From 33e0320aa02a9f5dff6658cc5a82507e3910f92f Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 10 Nov 2021 09:45:16 +0100
Subject: [PATCH] fix inertia on finger_edu & a1, ref #68 (#108)
---
robots/a1_description/urdf/a1.urdf | 20 ++++++++++++++++++++
unittest/test_load.py | 2 +-
2 files changed, 21 insertions(+), 1 deletion(-)
diff --git a/robots/a1_description/urdf/a1.urdf b/robots/a1_description/urdf/a1.urdf
index 34bc79f..f690ee7 100644
--- a/robots/a1_description/urdf/a1.urdf
+++ b/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"/>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index e76b00c..233d5bf 100755
--- a/unittest/test_load.py
+++ b/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)
--
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