From 5a08dd367a8e95061a146511a7ae3c09b5ef0be9 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Wed, 27 May 2020 18:47:46 +0100
Subject: [PATCH] [anymal] Reverted inertial modification + defined base with
tiny inertia
---
.../anymal_b_simple_description/robots/anymal.urdf | 13 ++++++-------
1 file changed, 6 insertions(+), 7 deletions(-)
diff --git a/robots/anymal_b_simple_description/robots/anymal.urdf b/robots/anymal_b_simple_description/robots/anymal.urdf
index 1b2c190..0613b00 100644
--- a/robots/anymal_b_simple_description/robots/anymal.urdf
+++ b/robots/anymal_b_simple_description/robots/anymal.urdf
@@ -101,25 +101,24 @@
</geometry>
</collision>
<inertial>
- <origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
- <mass value="16.793507758"/>
- <inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
+ <mass value="1e-6"/>
+ <inertia ixx="1e-6" ixy="1e-6" ixz="1e-6" iyy="1e-6" iyz="1e-6" izz="1e-6"/>
</inertial>
</link>
<!-- Fixed joint to add dummy inertia link -->
- <!-- <joint name="base_to_base_inertia" type="fixed">
+ <joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
- </joint> -->
+ </joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
- <!-- <link name="base_inertia">
+ <link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
<mass value="16.793507758"/>
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
</inertial>
- </link> -->
+ </link>
<!-- Xacro:Properties -->
<!-- [kg * m^2] -->
<!-- [A] -->
--
GitLab