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 @@ ...@@ -40,9 +40,21 @@
<!-- Xacro:Properties --> <!-- Xacro:Properties -->
<!-- [m] --> <!-- [m] -->
<!-- Base link --> <!-- 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"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae"/> <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
...@@ -56,6 +68,12 @@ ...@@ -56,6 +68,12 @@
</joint> </joint>
<link name="jaco_mounting_block"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_mounting_block.dae"/> <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_mounting_block.dae"/>
...@@ -354,7 +372,13 @@ ...@@ -354,7 +372,13 @@
<mechanicalReduction>160</mechanicalReduction> <mechanicalReduction>160</mechanicalReduction>
</actuator> </actuator>
</transmission> </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"> <joint name="j2s6s200_joint_end_effector" type="fixed">
<parent link="j2s6s200_link_6"/> <parent link="j2s6s200_link_6"/>
<child link="j2s6s200_end_effector"/> <child link="j2s6s200_end_effector"/>
......
...@@ -17,6 +17,11 @@ ...@@ -17,6 +17,11 @@
</collision> </collision>
</link> </link>
<link name="panda_link1"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
...@@ -37,6 +42,11 @@ ...@@ -37,6 +42,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" /> <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint> </joint>
<link name="panda_link2"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
...@@ -57,6 +67,11 @@ ...@@ -57,6 +67,11 @@
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" /> <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" />
</joint> </joint>
<link name="panda_link3"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
...@@ -77,6 +92,11 @@ ...@@ -77,6 +92,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" /> <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint> </joint>
<link name="panda_link4"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
...@@ -97,6 +117,11 @@ ...@@ -97,6 +117,11 @@
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" /> <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" />
</joint> </joint>
<link name="panda_link5"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
...@@ -117,6 +142,11 @@ ...@@ -117,6 +142,11 @@
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" /> <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint> </joint>
<link name="panda_link6"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
...@@ -137,6 +167,11 @@ ...@@ -137,6 +167,11 @@
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" /> <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" />
</joint> </joint>
<link name="panda_link7"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
...@@ -156,7 +191,13 @@ ...@@ -156,7 +191,13 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" /> <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint> </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"> <joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107" /> <origin rpy="0 0 0" xyz="0 0 0.107" />
<parent link="panda_link7" /> <parent link="panda_link7" />
...@@ -169,6 +210,11 @@ ...@@ -169,6 +210,11 @@
<origin rpy="0 0 -0.785398163397" xyz="0 0 0" /> <origin rpy="0 0 -0.785398163397" xyz="0 0 0" />
</joint> </joint>
<link name="panda_hand"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
...@@ -181,6 +227,11 @@ ...@@ -181,6 +227,11 @@
</collision> </collision>
</link> </link>
<link name="panda_leftfinger"> <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> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
...@@ -193,6 +244,11 @@ ...@@ -193,6 +244,11 @@
</collision> </collision>
</link> </link>
<link name="panda_rightfinger"> <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> <visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" /> <origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry> <geometry>
......
...@@ -87,7 +87,14 @@ ...@@ -87,7 +87,14 @@
<child link="gaze"/> <child link="gaze"/>
<origin rpy="0 0 0" xyz="0.11017 0 0.05426"/> <origin rpy="0 0 0" xyz="0.11017 0 0.05426"/>
</joint> </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"> <joint name="LHipYaw" type="revolute">
<parent link="body"/> <parent link="body"/>
<child link="LHipYawLink"/> <child link="LHipYawLink"/>
...@@ -207,7 +214,14 @@ ...@@ -207,7 +214,14 @@
<child link="l_sole"/> <child link="l_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/> <origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint> </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"> <joint name="RHipYaw" type="revolute">
<parent link="body"/> <parent link="body"/>
<child link="RHipYawLink"/> <child link="RHipYawLink"/>
...@@ -327,8 +341,22 @@ ...@@ -327,8 +341,22 @@
<child link="r_sole"/> <child link="r_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/> <origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint> </joint>
<link name="r_sole"/> <link name="r_sole">
<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>
<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"> <joint name="waist" type="fixed">
<parent link="base_link"/> <parent link="base_link"/>
<child link="body"/> <child link="body"/>
...@@ -671,121 +699,261 @@ ...@@ -671,121 +699,261 @@
</geometry> </geometry>
</collision> </collision>
</link> </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"> <joint name="ImuTorsoGyrometer_joint" type="fixed">
<parent link="body"/> <parent link="body"/>
<child link="ImuTorsoGyrometer_frame"/> <child link="ImuTorsoGyrometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/> <origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint> </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"> <joint name="RFsrRCenter_joint" type="fixed">
<parent link="r_ankle"/> <parent link="r_ankle"/>
<child link="RFsrRCenter_frame"/> <child link="RFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/> <origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint> </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"> <joint name="LFsrRCenter_joint" type="fixed">
<parent link="l_ankle"/> <parent link="l_ankle"/>
<child link="LFsrRCenter_frame"/> <child link="LFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/> <origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint> </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"> <joint name="RFsrFR_joint" type="fixed">
<parent link="r_ankle"/> <parent link="r_ankle"/>
<child link="RFsrFR_frame"/> <child link="RFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/> <origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/>
</joint> </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"> <joint name="CameraLeftEye_joint" type="fixed">
<parent link="HeadRollLink"/> <parent link="HeadRollLink"/>
<child link="CameraLeftEye_frame"/> <child link="CameraLeftEye_frame"/>
<origin rpy="0 0 0" xyz="0.11017 0.03192 0.05426"/> <origin rpy="0 0 0" xyz="0.11017 0.03192 0.05426"/>
</joint> </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"> <joint name="CameraRight_joint" type="fixed">
<parent link="HeadRollLink"/> <parent link="HeadRollLink"/>
<child link="CameraRight_frame"/> <child link="CameraRight_frame"/>
<origin rpy="0 0 0" xyz="0.11999 -0.04 0.09938"/> <origin rpy="0 0 0" xyz="0.11999 -0.04 0.09938"/>
</joint> </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"> <joint name="ImuHeadGyrometer_joint" type="fixed">
<parent link="HeadRollLink"/> <parent link="HeadRollLink"/>
<child link="ImuHeadGyrometer_frame"/> <child link="ImuHeadGyrometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/> <origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint> </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"> <joint name="ImuHeadAccelerometer_joint" type="fixed">
<parent link="HeadRollLink"/> <parent link="HeadRollLink"/>
<child link="ImuHeadAccelerometer_frame"/> <child link="ImuHeadAccelerometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/> <origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint> </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"> <joint name="HeadTouchMiddle_joint" type="fixed">
<parent link="HeadRollLink"/> <parent link="HeadRollLink"/>
<child link="HeadTouchMiddle_frame"/> <child link="HeadTouchMiddle_frame"/>
<origin rpy="0 -1.57079632679 0" xyz="0.001 0 0.1099"/> <origin rpy="0 -1.57079632679 0" xyz="0.001 0 0.1099"/>
</joint> </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"> <joint name="CameraLeft_joint" type="fixed">
<parent link="HeadRollLink"/> <parent link="HeadRollLink"/>
<child link="CameraLeft_frame"/> <child link="CameraLeft_frame"/>
<origin rpy="0 0 0" xyz="0.11999 0.04 0.09938"/> <origin rpy="0 0 0" xyz="0.11999 0.04 0.09938"/>
</joint> </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"> <joint name="RFsrCenter_joint" type="fixed">
<parent link="r_ankle"/> <parent link="r_ankle"/>
<child link="RFsrCenter_frame"/> <child link="RFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/> <origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint> </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"> <joint name="LFsrCenter_joint" type="fixed">
<parent link="l_ankle"/> <parent link="l_ankle"/>
<child link="LFsrCenter_frame"/> <child link="LFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/> <origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint> </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"> <joint name="CameraDepth_joint" type="fixed">
<parent link="HeadRollLink"/> <parent link="HeadRollLink"/>
<child link="CameraDepth_frame"/> <child link="CameraDepth_frame"/>
<origin rpy="2.0043951 0 1.57079632679" xyz="0.1403 -0.04708 0.14655"/> <origin rpy="2.0043951 0 1.57079632679" xyz="0.1403 -0.04708 0.14655"/>
</joint> </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"> <joint name="ImuTorsoAccelerometer_joint" type="fixed">
<parent link="body"/> <parent link="body"/>
<child link="ImuTorsoAccelerometer_frame"/> <child link="ImuTorsoAccelerometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/> <origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint> </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"> <joint name="RFsrFL_joint" type="fixed">
<parent link="r_ankle"/> <parent link="r_ankle"/>
<child link="RFsrFL_frame"/> <child link="RFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/> <origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/>
</joint> </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>