Unverified Commit 643b8b17 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #68 from olivier-stasse/devel

[talos_reduced] Fix inertia and mass to zero for optical links.
parents 61651abd 187bb33b
Pipeline #13422 passed with stage
in 1 minute and 47 seconds
......@@ -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"/>
......
......@@ -17,6 +17,11 @@
</collision>
</link>
<link name="panda_link1">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
......@@ -37,6 +42,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint>
<link name="panda_link2">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
......@@ -57,6 +67,11 @@
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" />
</joint>
<link name="panda_link3">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
......@@ -77,6 +92,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint>
<link name="panda_link4">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
......@@ -97,6 +117,11 @@
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" />
</joint>
<link name="panda_link5">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
......@@ -117,6 +142,11 @@
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint>
<link name="panda_link6">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
......@@ -137,6 +167,11 @@
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" />
</joint>
<link name="panda_link7">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
......@@ -156,7 +191,13 @@
<axis xyz="0 0 1" />
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint>
<link name="panda_link8" />
<link name="panda_link8">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107" />
<parent link="panda_link7" />
......@@ -169,6 +210,11 @@
<origin rpy="0 0 -0.785398163397" xyz="0 0 0" />
</joint>
<link name="panda_hand">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
......@@ -181,6 +227,11 @@
</collision>
</link>
<link name="panda_leftfinger">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
......@@ -193,6 +244,11 @@
</collision>
</link>
<link name="panda_rightfinger">
<inertial>
<mass value="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry>
......
......@@ -87,7 +87,14 @@
<child link="gaze"/>
<origin rpy="0 0 0" xyz="0.11017 0 0.05426"/>
</joint>
<link name="gaze"/>
<link name="gaze">
<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="LHipYaw" type="revolute">
<parent link="body"/>
<child link="LHipYawLink"/>
......@@ -207,7 +214,14 @@
<child link="l_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint>
<link name="l_sole"/>
<link name="l_sole">
<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="RHipYaw" type="revolute">
<parent link="body"/>
<child link="RHipYawLink"/>
......@@ -327,8 +341,22 @@
<child link="r_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint>
<link name="r_sole"/>
<link name="base_link"/>
<link name="r_sole">
<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="base_link">
<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="waist" type="fixed">
<parent link="base_link"/>
<child link="body"/>
......@@ -671,121 +699,261 @@
</geometry>
</collision>
</link>
<link name="ImuTorsoGyrometer_frame"/>
<link name="ImuTorsoGyrometer_frame">
<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="ImuTorsoGyrometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoGyrometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint>
<link name="RFsrRCenter_frame"/>
<link name="RFsrRCenter_frame">
<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="RFsrRCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint>
<link name="LFsrRCenter_frame"/>
<link name="LFsrRCenter_frame">
<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="LFsrRCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint>
<link name="RFsrFR_frame"/>
<link name="RFsrFR_frame">
<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="RFsrFR_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/>
</joint>
<link name="CameraLeftEye_frame"/>
<link name="CameraLeftEye_frame">
<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="CameraLeftEye_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraLeftEye_frame"/>
<origin rpy="0 0 0" xyz="0.11017 0.03192 0.05426"/>
</joint>
<link name="CameraRight_frame"/>
<link name="CameraRight_frame">
<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="CameraRight_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRight_frame"/>
<origin rpy="0 0 0" xyz="0.11999 -0.04 0.09938"/>
</joint>
<link name="ImuHeadGyrometer_frame"/>
<link name="ImuHeadGyrometer_frame">
<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="ImuHeadGyrometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadGyrometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint>
<link name="ImuHeadAccelerometer_frame"/>
<link name="ImuHeadAccelerometer_frame">
<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="ImuHeadAccelerometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadAccelerometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint>
<link name="HeadTouchMiddle_frame"/>
<link name="HeadTouchMiddle_frame">
<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="HeadTouchMiddle_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchMiddle_frame"/>
<origin rpy="0 -1.57079632679 0" xyz="0.001 0 0.1099"/>
</joint>
<link name="CameraLeft_frame"/>
<link name="CameraLeft_frame">
<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="CameraLeft_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraLeft_frame"/>
<origin rpy="0 0 0" xyz="0.11999 0.04 0.09938"/>
</joint>
<link name="RFsrCenter_frame"/>
<link name="RFsrCenter_frame">
<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="RFsrCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint>
<link name="LFsrCenter_frame"/>
<link name="LFsrCenter_frame">
<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="LFsrCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint>
<link name="CameraDepth_frame"/>
<link name="CameraDepth_frame">
<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="CameraDepth_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraDepth_frame"/>
<origin rpy="2.0043951 0 1.57079632679" xyz="0.1403 -0.04708 0.14655"/>
</joint>
<link name="ImuTorsoAccelerometer_frame"/>
<link name="ImuTorsoAccelerometer_frame">
<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="ImuTorsoAccelerometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoAccelerometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint>
<link name="RFsrFL_frame"/>
<link name="RFsrFL_frame">
<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="RFsrFL_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/>
</joint>
<link name="LFsrFL_frame"/>
<link name="LFsrFL_frame">
<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="LFsrFL_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/>
</joint>
<link name="CameraRightEye_frame"/>
<link name="CameraRightEye_frame">
<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="CameraRightEye_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRightEye_frame"/>
<origin rpy="0 0 0" xyz="0.11017 -0.03192 0.05426"/>
</joint>
<link name="HeadTouchFront_frame"/>
<link name="HeadTouchFront_frame">
<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="HeadTouchFront_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchFront_frame"/>
<origin rpy="0 -1.186099535 0" xyz="0.0312 0 0.1014"/>
</joint>
<link name="LFsrFR_frame"/>
<link name="LFsrFR_frame">
<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="LFsrFR_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/>
</joint>
<link name="HeadTouchRear_frame"/>
<link name="HeadTouchRear_frame">
<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="HeadTouchRear_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchRear_frame"/>
......@@ -796,13 +964,26 @@
<child link="l_gripper"/>
<origin rpy="-1.57079633 0 0" xyz="0.09 0 -0.02"/>
</joint>
<link name="l_gripper"/>
<link name="l_gripper">
<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="r_gripper_joint" type="fixed">
<parent link="r_wrist"/>
<child link="r_gripper"/>
<origin rpy="-1.57079633 0 0" xyz="0.09 0 -0.02"/>
</joint>
<link name="r_gripper"/>
<link name="r_gripper">
<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="LFinger11Link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
......
......@@ -304,26 +304,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
<link name="rgbd_depth_frame"/>
<link name="rgbd_depth_frame">
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0.0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="rgbd_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_depth_frame"/>
<child link="rgbd_depth_optical_frame"/>
</joint>
<link name="rgbd_depth_optical_frame"/>
<link name="rgbd_depth_optical_frame">
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<!-- frames of the rgb sensor -->
<joint name="rgbd_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
<parent link="rgbd_link"/>
<child link="rgbd_rgb_frame"/>
</joint>
<link name="rgbd_rgb_frame"/>
<link name="rgbd_rgb_frame">
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="rgbd_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_rgb_frame"/>
<child link="rgbd_rgb_optical_frame"/>
</joint>
<link name="rgbd_rgb_optical_frame"/>
<link name="rgbd_rgb_optical_frame">
<inertial>