Commit 2d376efb authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Fix tiago robot

parent baf86595
......@@ -132,7 +132,13 @@
<material>Gazebo/White</material>
</gazebo>
<!-- Base footprint -->
<link name="base_footprint"/>
<link name="base_footprint">
<inertial>
<mass value="0.0"/>
<origin xyz="0.0 0.0 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="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0985"/>
<child link="base_link"/>
......@@ -2959,7 +2965,13 @@
<mechanicalReduction>0.0739176962651</mechanicalReduction>
</actuator>
</transmission>
<link name="hand_grasping_frame"/>
<link name="hand_grasping_frame">
<inertial>
<mass value="0.0"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0" izz="0.0"/>
</inertial>
</link>
<joint name="hand_grasping_fixed_joint" type="fixed">
<parent link="hand_palm_link"/>
<child link="hand_grasping_frame"/>
......
......@@ -132,7 +132,14 @@
<material>Gazebo/White</material>
</gazebo>
<!-- Base footprint -->
<link name="base_footprint"/>
<link name="base_footprint">
<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="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0985"/>
<child link="base_link"/>
......
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