From 35650ae0e394d5fce65efa2a085cbda8ab46730c Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <c.mastalli@hw.ac.uk>
Date: Thu, 9 Mar 2023 23:31:32 +0000
Subject: [PATCH] [go1][b1] Added fake inertia in base for pybullet
---
robots/b1_description/urdf/b1.urdf | 4 ++++
robots/go1_description/urdf/go1.urdf | 4 ++++
2 files changed, 8 insertions(+)
diff --git a/robots/b1_description/urdf/b1.urdf b/robots/b1_description/urdf/b1.urdf
index 49a448e..5f91ffe 100644
--- a/robots/b1_description/urdf/b1.urdf
+++ b/robots/b1_description/urdf/b1.urdf
@@ -291,6 +291,10 @@
</joint>
</xacro:if> -->
<link name="base">
+ <inertial>
+ <mass value="1e-6"/>
+ <inertia ixx="1e-6" ixy="1e-6" ixz="1e-6" iyy="1e-6" iyz="1e-6" izz="1e-6"/>
+ </inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
diff --git a/robots/go1_description/urdf/go1.urdf b/robots/go1_description/urdf/go1.urdf
index 17ecaf6..921a4a1 100644
--- a/robots/go1_description/urdf/go1.urdf
+++ b/robots/go1_description/urdf/go1.urdf
@@ -405,6 +405,10 @@
</joint>
</xacro:if> -->
<link name="base">
+ <inertial>
+ <mass value="1e-6"/>
+ <inertia ixx="1e-6" ixy="1e-6" ixz="1e-6" iyy="1e-6" iyz="1e-6" izz="1e-6"/>
+ </inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
--
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