Commit d20975b6 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[icub] Added some mass for massless links, this is for numerical reasons

parent 0ac4e3f5
...@@ -392,14 +392,14 @@ ...@@ -392,14 +392,14 @@
</link> </link>
<link name="l_wrist_1"> <link name="l_wrist_1">
<inertial> <inertial>
<mass value="0" /> <mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial> </inertial>
</link> </link>
<link name="neck_1"> <link name="neck_1">
<inertial> <inertial>
<mass value="0" /> <mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial> </inertial>
...@@ -422,7 +422,7 @@ ...@@ -422,7 +422,7 @@
</link> </link>
<link name="neck_2"> <link name="neck_2">
<inertial> <inertial>
<mass value="0" /> <mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial> </inertial>
...@@ -768,7 +768,7 @@ ...@@ -768,7 +768,7 @@
</link> </link>
<link name="r_wrist_1"> <link name="r_wrist_1">
<inertial> <inertial>
<mass value="0" /> <mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial> </inertial>
...@@ -798,14 +798,14 @@ ...@@ -798,14 +798,14 @@
</link> </link>
<link name="torso"> <link name="torso">
<inertial> <inertial>
<mass value="0" /> <mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" /> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial> </inertial>
</link> </link>
<link name="torso_1"> <link name="torso_1">
<inertial> <inertial>
<mass value="0" /> <mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.0004544" ixy="-4.263e-05" ixz="-3.889e-08" iyy="0.001141" iyz="0" izz="0.001236" /> <inertia ixx="0.0004544" ixy="-4.263e-05" ixz="-3.889e-08" iyy="0.001141" iyz="0" izz="0.001236" />
</inertial> </inertial>
...@@ -828,7 +828,7 @@ ...@@ -828,7 +828,7 @@
</link> </link>
<link name="torso_2"> <link name="torso_2">
<inertial> <inertial>
<mass value="0" /> <mass value="0.1" />
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 -0 0" />
<inertia ixx="0.0005308" ixy="-1.923e-06" ixz="5.095e-05" iyy="0.002031" iyz="-3.849e-07" izz="0.001803" /> <inertia ixx="0.0005308" ixy="-1.923e-06" ixz="5.095e-05" iyy="0.002031" iyz="-3.849e-07" izz="0.001803" />
</inertial> </inertial>
......
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