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Commit 22f8e764 authored by Guilhem Saurel's avatar Guilhem Saurel
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panda: set default link mass to 0

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robots/panda_description/urdf/panda.urdf
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View file @ 22f8e764
...@@ -17,6 +17,11 @@ ...@@ -17,6 +17,11 @@
</collision> </collision>
</link> </link>
<link name="panda_link1"> <link name="panda_link1">
<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>
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
...@@ -37,6 +42,11 @@ ...@@ -37,6 +42,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" /> <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint> </joint>
<link name="panda_link2"> <link name="panda_link2">
<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>
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
...@@ -57,6 +67,11 @@ ...@@ -57,6 +67,11 @@
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" /> <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" />
</joint> </joint>
<link name="panda_link3"> <link name="panda_link3">
<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>
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
...@@ -77,6 +92,11 @@ ...@@ -77,6 +92,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" /> <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint> </joint>
<link name="panda_link4"> <link name="panda_link4">
<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>
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
...@@ -97,6 +117,11 @@ ...@@ -97,6 +117,11 @@
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" /> <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" />
</joint> </joint>
<link name="panda_link5"> <link name="panda_link5">
<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>
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
...@@ -117,6 +142,11 @@ ...@@ -117,6 +142,11 @@
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" /> <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint> </joint>
<link name="panda_link6"> <link name="panda_link6">
<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>
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
...@@ -137,6 +167,11 @@ ...@@ -137,6 +167,11 @@
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" /> <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" />
</joint> </joint>
<link name="panda_link7"> <link name="panda_link7">
<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>
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
...@@ -156,7 +191,13 @@ ...@@ -156,7 +191,13 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" /> <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint> </joint>
<link name="panda_link8" /> <link name="panda_link8">
<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="panda_joint8" type="fixed"> <joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107" /> <origin rpy="0 0 0" xyz="0 0 0.107" />
<parent link="panda_link7" /> <parent link="panda_link7" />
...@@ -169,6 +210,11 @@ ...@@ -169,6 +210,11 @@
<origin rpy="0 0 -0.785398163397" xyz="0 0 0" /> <origin rpy="0 0 -0.785398163397" xyz="0 0 0" />
</joint> </joint>
<link name="panda_hand"> <link name="panda_hand">
<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>
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
...@@ -181,6 +227,11 @@ ...@@ -181,6 +227,11 @@
</collision> </collision>
</link> </link>
<link name="panda_leftfinger"> <link name="panda_leftfinger">
<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>
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" /> <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
...@@ -193,6 +244,11 @@ ...@@ -193,6 +244,11 @@
</collision> </collision>
</link> </link>
<link name="panda_rightfinger"> <link name="panda_rightfinger">
<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>
<visual> <visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" /> <origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry> <geometry>
......
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