From 2d376efb951888d6a41f0c146feb58aace27af7b Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 3 Mar 2021 22:09:20 +0100
Subject: [PATCH] Fix tiago robot
---
robots/tiago_description/robots/tiago.urdf | 16 ++++++++++++++--
.../tiago_description/robots/tiago_no_hand.urdf | 9 ++++++++-
2 files changed, 22 insertions(+), 3 deletions(-)
diff --git a/robots/tiago_description/robots/tiago.urdf b/robots/tiago_description/robots/tiago.urdf
index 9a8ea78..f05f48c 100644
--- a/robots/tiago_description/robots/tiago.urdf
+++ b/robots/tiago_description/robots/tiago.urdf
@@ -132,7 +132,13 @@
<material>Gazebo/White</material>
</gazebo>
<!-- Base footprint -->
- <link name="base_footprint"/>
+ <link name="base_footprint">
+ <inertial>
+ <mass value="0.0"/>
+ <origin xyz="0.0 0.0 0.0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0985"/>
<child link="base_link"/>
@@ -2959,7 +2965,13 @@
<mechanicalReduction>0.0739176962651</mechanicalReduction>
</actuator>
</transmission>
- <link name="hand_grasping_frame"/>
+ <link name="hand_grasping_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="hand_grasping_fixed_joint" type="fixed">
<parent link="hand_palm_link"/>
<child link="hand_grasping_frame"/>
diff --git a/robots/tiago_description/robots/tiago_no_hand.urdf b/robots/tiago_description/robots/tiago_no_hand.urdf
index d088c5d..94f9ad0 100644
--- a/robots/tiago_description/robots/tiago_no_hand.urdf
+++ b/robots/tiago_description/robots/tiago_no_hand.urdf
@@ -132,7 +132,14 @@
<material>Gazebo/White</material>
</gazebo>
<!-- Base footprint -->
- <link name="base_footprint"/>
+ <link name="base_footprint">
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </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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