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Commit bc53ee5d authored by Carlos Mastalli's avatar Carlos Mastalli
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[icub] Include tiny inertia for ICub robot

parent a0302d12
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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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