From 1f2c5df28165ae38293fd6c18295b06e4c389b8e Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 1 Apr 2022 18:45:50 +0200
Subject: [PATCH] laikago: set 0 mass / inertia to thigh shoulders
---
robots/laikago_description/urdf/laikago.urdf | 20 ++++++++++++++++++++
1 file changed, 20 insertions(+)
diff --git a/robots/laikago_description/urdf/laikago.urdf b/robots/laikago_description/urdf/laikago.urdf
index abff999..7bc2bb0 100644
--- a/robots/laikago_description/urdf/laikago.urdf
+++ b/robots/laikago_description/urdf/laikago.urdf
@@ -93,6 +93,11 @@
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
+ <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="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
@@ -215,6 +220,11 @@
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
+ <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="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.037 0"/>
@@ -337,6 +347,11 @@
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
+ <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="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
@@ -459,6 +474,11 @@
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
+ <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="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.037 0"/>
--
GitLab