Commit ac46887a authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

talos_box & talos_full_box: set default link mass to 0

parent 22f8e764
......@@ -306,8 +306,8 @@
</joint>
<link name="rgbd_depth_frame">
<inertial>
<mass value="0.0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
<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>
......@@ -318,11 +318,11 @@
</joint>
<link name="rgbd_depth_optical_frame">
<inertial>
<mass value="0.0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
<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>
</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"/>
......@@ -331,11 +331,11 @@
</joint>
<link name="rgbd_rgb_frame">
<inertial>
<mass value="0.0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
<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>
</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"/>
......@@ -343,11 +343,11 @@
</joint>
<link name="rgbd_rgb_optical_frame">
<inertial>
<mass value="0.0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
<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>
</link>
<gazebo reference="rgbd_link">
<!-- IR + depth -->
<sensor name="rgbd_frame_sensor" type="depth">
......
......@@ -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">
......
......@@ -325,26 +325,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
<link name="rgbd_depth_frame"/>
<link name="rgbd_depth_frame">
<inertial>
<mass value="0"/>
<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="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"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="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"/>
<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="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"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<!-- extensions -->
<gazebo reference="rgbd_link">
<!-- IR + depth -->
......@@ -2193,8 +2217,8 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</collision>
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
......@@ -2519,8 +2543,8 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</collision>
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
......@@ -2786,4 +2810,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
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