Unverified Commit 33e0320a authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

fix inertia on finger_edu & a1, ref #68 (#108)

parent 9a8c6f19
......@@ -129,6 +129,11 @@
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
<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="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
......@@ -251,6 +256,11 @@
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
<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="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0838 0"/>
......@@ -373,6 +383,11 @@
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
<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="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
......@@ -495,6 +510,11 @@
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
<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="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0838 0"/>
......
......@@ -93,7 +93,7 @@ class RobotTestCase(unittest.TestCase):
self.check('solo12', 19, 18)
def test_finger_edu(self):
self.check('finger_edu', 3, 3)
self.check('finger_edu', 3, 3, one_kg_bodies=['finger_base_link'])
def test_talos(self):
self.check('talos', 39, 38)
......
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