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Commit a5f5b3ae authored by Carlos Mastalli's avatar Carlos Mastalli
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Merge remote-tracking branch 'origin/master' into devel

parents 7b437222 adba0d18
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robots/anymal_b_simple_description/robots/anymal-kinova.urdf
View file @ a5f5b3ae
......@@ -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] -->
......
robots/anymal_b_simple_description/robots/anymal.urdf
View file @ a5f5b3ae
......@@ -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] -->
......
robots/icub_description/robots/icub.urdf
View file @ a5f5b3ae
<?xml version="1.0" ?>
<robot name="iCub">
<link name="base_link" />
<link name="base_link">
<inertial>
<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>
<link name="chest">
<inertial>
<mass value="4.81" />
......
robots/icub_description/robots/icub_reduced.urdf
View file @ a5f5b3ae
<?xml version="1.0" ?>
<robot name="iCub">
<link name="base_link" />
<link name="base_link">
<inertial>
<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>
<link name="chest">
<inertial>
<mass value="4.81" />
......
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