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Gepetto
example-robot-data
Commits
bc53ee5d
Commit
bc53ee5d
authored
May 28, 2020
by
Carlos Mastalli
Browse files
[icub] Include tiny inertia for ICub robot
parent
a0302d12
Changes
2
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robots/icub_description/robots/icub.urdf
View file @
bc53ee5d
<?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 @
bc53ee5d
<?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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