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Commit 23fce579 authored by Guilhem Saurel's avatar Guilhem Saurel
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tiago: add 0 inertia to root link for RBDL

parent 3123a014
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1 merge request!3Update the repository to the version used for the first submission of the article
......@@ -395,7 +395,13 @@
<material>Gazebo/White</material>
</gazebo>
<!-- Base footprint -->
<link name="base_footprint"/>
<link name="base_footprint">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0985"/>
<child link="base_link"/>
......
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