Merge pull request #68 from olivier-stasse/devel

[talos_reduced] Fix inertia and mass to zero for optical links.

robots/kinova_description/robots/kinova.urdf

@@ -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"/>
@@ -56,6 +68,12 @@
     </joint>
 
     <link name="jaco_mounting_block">
+      <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"/>
@@ -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"/>

robots/panda_description/urdf/panda.urdf

@@ -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>

robots/romeo_description/urdf/romeo.urdf

@@ -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"/>

robots/talos_data/robots/talos_full_v2.urdf

@@ -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>
+      <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>
   <gazebo reference="rgbd_link">
     <!-- IR + depth -->
     <sensor name="rgbd_frame_sensor" type="depth">