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Gepetto
example-robot-data
Commits
830d1d21
Commit
830d1d21
authored
Mar 03, 2021
by
Olivier Stasse
Browse files
[talos_reduced] Fix inertia and mass to zero for optical links.
Letting this unfix is adding 1kg for each link in pybullet.
parent
61651abd
Changes
1
Hide whitespace changes
Inline
Side-by-side
robots/talos_data/robots/talos_reduced.urdf
View file @
830d1d21
...
...
@@ -289,17 +289,6 @@
<!-- inertia tensor computed analytically for a solid cuboid -->
<inertia
ixx=
"0.000030"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.000030"
iyz=
"0.0"
izz=
"0.000002"
/>
</inertial>
<!--
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/sensors/orbbec/orbbec.STL"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
-->
<collision>
<origin
rpy=
"0 0 0"
xyz=
"-0.01 0.0025 0"
/>
<geometry>
...
...
@@ -325,26 +314,50 @@
<parent
link=
"rgbd_link"
/>
<child
link=
"rgbd_depth_frame"
/>
</joint>
<link
name=
"rgbd_depth_frame"
/>
<link
name=
"rgbd_depth_frame"
>
<inertial>
<mass
value=
"0.0"
/>
<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=
"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=
"0.0"
/>
<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>
<!-- 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=
"0.0"
/>
<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=
"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=
"0.0"
/>
<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>
<!-- extensions -->
<gazebo
reference=
"rgbd_link"
>
<!-- IR + depth -->
...
...
@@ -449,7 +462,6 @@
<!-- TODO: Missing reflects of inertias -->
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"-0.01346 0.0913 0.04812"
/>
<!-- <mass value="1.52896"/> -->
<mass
value=
"1.42896"
/>
<inertia
ixx=
"0.00555100000"
ixy=
"-0.00073100000"
ixz=
"0.00000800000"
iyy=
"0.00167300000"
iyz=
"-0.00006000000"
izz=
"0.00582200000"
/>
</inertial>
...
...
@@ -482,7 +494,6 @@
<link
name=
"arm_left_2_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"0.02607 0.00049 -0.05209"
/>
<!-- <mass value="1.77729"/> -->
<mass
value=
"1.67729"
/>
<inertia
ixx=
"0.00708700000"
ixy=
"-0.00001400000"
ixz=
"0.00214200000"
iyy=
"0.00793600000"
iyz=
"0.00003000000"
izz=
"0.00378800000"
/>
</inertial>
...
...
@@ -515,7 +526,6 @@
<link
name=
"arm_left_3_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"0.00841 0.01428 -0.22291"
/>
<!-- <mass value="1.57029"/> -->
<mass
value=
"1.47029"
/>
<inertia
ixx=
"0.00433200000"
ixy=
"0.00015300000"
ixz=
"-0.00049600000"
iyy=
"0.00434000000"
iyz=
"-0.00060900000"
izz=
"0.00254300000"
/>
</inertial>
...
...
@@ -551,7 +561,6 @@
<link
name=
"arm_left_4_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"-0.00655 -0.02107 -0.02612"
/>
<!-- <mass value="1.20216"/> -->
<mass
value=
"1.10216"
/>
<inertia
ixx=
"0.00221700000"
ixy=
"-0.00010100000"
ixz=
"0.00028800000"
iyy=
"0.00241800000"
iyz=
"-0.00039300000"
izz=
"0.00111500000"
/>
</inertial>
...
...
@@ -622,7 +631,6 @@
<link
name=
"arm_left_5_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"-0.00006 0.00326 0.07963"
/>
<!-- <mass value="1.87792"/> -->
<mass
value=
"1.77792"
/>
<inertia
ixx=
"0.00349500000"
ixy=
"-0.00001300000"
ixz=
"-0.00001000000"
iyy=
"0.00436800000"
iyz=
"0.00009700000"
izz=
"0.00228300000"
/>
</inertial>
...
...
@@ -655,7 +663,6 @@
<link
name=
"arm_left_6_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"0.00002 -0.00197 -0.00059"
/>
<!-- <mass value="0.40931"/> -->
<mass
value=
"0.30931"
/>
<inertia
ixx=
"0.00010700000"
ixy=
"0.00000000000"
ixz=
"0.00000000000"
iyy=
"0.00014100000"
iyz=
"-0.00000000000"
izz=
"0.00015400000"
/>
</inertial>
...
...
@@ -686,15 +693,6 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link
name=
"arm_left_7_link"
>
<!-- WRONG VALUES
<inertial>
<origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.02604"/>
<inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
iyy="0.00146400000" iyz="0.00001200000"
izz="0.00090300000"/>
</inertial>
-->
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"0.007525 0.001378 -0.024630"
/>
<mass
value=
"0.308441"
/>
...
...
@@ -833,7 +831,6 @@
<!-- TODO: Missing reflects of inertias -->
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"-0.01346 -0.0913 0.04812"
/>
<!-- <mass value="1.52896"/> -->
<mass
value=
"1.42896"
/>
<inertia
ixx=
"0.00555100000"
ixy=
"-0.00073100000"
ixz=
"0.00000800000"
iyy=
"0.00167300000"
iyz=
"-0.00006000000"
izz=
"0.00582200000"
/>
</inertial>
...
...
@@ -866,7 +863,6 @@
<link
name=
"arm_right_2_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"0.02607 0.00049 -0.05209"
/>
<!-- <mass value="1.77729"/> -->
<mass
value=
"1.67729"
/>
<inertia
ixx=
"0.00708700000"
ixy=
"-0.00001400000"
ixz=
"0.00214200000"
iyy=
"0.00793600000"
iyz=
"0.00003000000"
izz=
"0.00378800000"
/>
</inertial>
...
...
@@ -899,7 +895,6 @@
<link
name=
"arm_right_3_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"0.00841 0.01428 -0.22291"
/>
<!-- <mass value="1.57029"/> -->
<mass
value=
"1.47029"
/>
<inertia
ixx=
"0.00433200000"
ixy=
"0.00015300000"
ixz=
"-0.00049600000"
iyy=
"0.00434000000"
iyz=
"-0.00060900000"
izz=
"0.00254300000"
/>
</inertial>
...
...
@@ -935,7 +930,6 @@
<link
name=
"arm_right_4_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"-0.00655 -0.02107 -0.02612"
/>
<!-- <mass value="1.20216"/> -->
<mass
value=
"1.10216"
/>
<inertia
ixx=
"0.00221700000"
ixy=
"-0.00010100000"
ixz=
"0.00028800000"
iyy=
"0.00241800000"
iyz=
"-0.00039300000"
izz=
"0.00111500000"
/>
</inertial>
...
...
@@ -1006,7 +1000,6 @@
<link
name=
"arm_right_5_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"-0.00006 0.00326 0.07963"
/>
<!-- <mass value="1.87792"/> -->
<mass
value=
"1.77792"
/>
<inertia
ixx=
"0.00349500000"
ixy=
"-0.00001300000"
ixz=
"-0.00001000000"
iyy=
"0.00436800000"
iyz=
"0.00009700000"
izz=
"0.00228300000"
/>
</inertial>
...
...
@@ -1039,7 +1032,6 @@
<link
name=
"arm_right_6_link"
>
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"0.00002 -0.00197 -0.00059"
/>
<!-- <mass value="0.40931"/> -->
<mass
value=
"0.30931"
/>
<inertia
ixx=
"0.00010700000"
ixy=
"0.00000000000"
ixz=
"0.00000000000"
iyy=
"0.00014100000"
iyz=
"-0.00000000000"
izz=
"0.00015400000"
/>
</inertial>
...
...
@@ -1070,15 +1062,6 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link
name=
"arm_right_7_link"
>
<!-- WRONG VALUES
<inertial>
<origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.02604"/>
<inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
iyy="0.00146400000" iyz="0.00001200000"
izz="0.00090300000"/>
</inertial>
-->
<inertial>
<origin
rpy=
"0.00000 0.00000 0.00000"
xyz=
"0.007525 0.001378 -0.024630"
/>
<mass
value=
"0.308441"
/>
...
...
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