Commit 25616ddb authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Fix Kinova robot

parent e87be2fb
......@@ -40,9 +40,21 @@
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Base link -->
<link name="base"/>
<link name="base">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<link name="jaco_front_hatch_support_v2">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
......@@ -56,11 +68,17 @@
</joint>
<link name="jaco_mounting_block">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_mounting_block.dae"/>
</geometry>
</visual>
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_mounting_block.dae"/>
</geometry>
</visual>
</link>
<joint name="jaco_support_to_jaco_mounting_block" type="fixed">
<parent link="jaco_front_hatch_support_v2"/>
......@@ -354,7 +372,13 @@
<mechanicalReduction>160</mechanicalReduction>
</actuator>
</transmission>
<link name="j2s6s200_end_effector"/>
<link name="j2s6s200_end_effector">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<joint name="j2s6s200_joint_end_effector" type="fixed">
<parent link="j2s6s200_link_6"/>
<child link="j2s6s200_end_effector"/>
......
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