fix inertia on finger_edu & a1, ref #68 (#108)

robots/a1_description/urdf/a1.urdf

@@ -129,6 +129,11 @@
         <cylinder length="0.032" radius="0.041"/>
       </geometry>
     </collision>
+    <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="FR_thigh_joint" type="revolute">
     <origin rpy="0 0 0" xyz="0 -0.0838 0"/>
@@ -251,6 +256,11 @@
         <cylinder length="0.032" radius="0.041"/>
       </geometry>
     </collision>
+    <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="FL_thigh_joint" type="revolute">
     <origin rpy="0 0 0" xyz="0 0.0838 0"/>
@@ -373,6 +383,11 @@
         <cylinder length="0.032" radius="0.041"/>
       </geometry>
     </collision>
+    <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="RR_thigh_joint" type="revolute">
     <origin rpy="0 0 0" xyz="0 -0.0838 0"/>
@@ -495,6 +510,11 @@
         <cylinder length="0.032" radius="0.041"/>
       </geometry>
     </collision>
+    <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="RL_thigh_joint" type="revolute">
     <origin rpy="0 0 0" xyz="0 0.0838 0"/>

unittest/test_load.py

@@ -93,7 +93,7 @@ class RobotTestCase(unittest.TestCase):
         self.check('solo12', 19, 18)
 
     def test_finger_edu(self):
-        self.check('finger_edu', 3, 3)
+        self.check('finger_edu', 3, 3, one_kg_bodies=['finger_base_link'])
 
     def test_talos(self):
         self.check('talos', 39, 38)