From 22f8e764c237ea0d820170fd0f57a56bfe60802e Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 5 Mar 2021 23:35:40 +0100
Subject: [PATCH] panda: set default link mass to 0
---
robots/panda_description/urdf/panda.urdf | 58 +++++++++++++++++++++++-
1 file changed, 57 insertions(+), 1 deletion(-)
diff --git a/robots/panda_description/urdf/panda.urdf b/robots/panda_description/urdf/panda.urdf
index cf01eec..c767772 100644
--- a/robots/panda_description/urdf/panda.urdf
+++ b/robots/panda_description/urdf/panda.urdf
@@ -17,6 +17,11 @@
</collision>
</link>
<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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
@@ -37,6 +42,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint>
<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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
@@ -57,6 +67,11 @@
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" />
</joint>
<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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
@@ -77,6 +92,11 @@
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint>
<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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
@@ -97,6 +117,11 @@
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" />
</joint>
<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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
@@ -117,6 +142,11 @@
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint>
<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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
@@ -137,6 +167,11 @@
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" />
</joint>
<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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
@@ -156,7 +191,13 @@
<axis xyz="0 0 1" />
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</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">
<origin rpy="0 0 0" xyz="0 0 0.107" />
<parent link="panda_link7" />
@@ -169,6 +210,11 @@
<origin rpy="0 0 -0.785398163397" xyz="0 0 0" />
</joint>
<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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
@@ -181,6 +227,11 @@
</collision>
</link>
<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>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
@@ -193,6 +244,11 @@
</collision>
</link>
<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>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry>
--
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