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Gepetto
example-robot-data
Commits
a5f5b3ae
Commit
a5f5b3ae
authored
May 28, 2020
by
Carlos Mastalli
Browse files
Merge remote-tracking branch 'origin/master' into devel
parents
7b437222
adba0d18
Pipeline
#9715
passed with stage
in 1 minute and 10 seconds
Changes
4
Pipelines
1
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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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