From 5032133b3910dd7f3a1b9802def93785f8197311 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 3 Mar 2021 22:06:09 +0100
Subject: [PATCH] Fix romeo robot
---
robots/romeo_description/urdf/romeo.urdf | 233 ++++++++++++++++++++---
1 file changed, 207 insertions(+), 26 deletions(-)
diff --git a/robots/romeo_description/urdf/romeo.urdf b/robots/romeo_description/urdf/romeo.urdf
index bab144e..4a0bd75 100644
--- a/robots/romeo_description/urdf/romeo.urdf
+++ b/robots/romeo_description/urdf/romeo.urdf
@@ -87,7 +87,14 @@
<child link="gaze"/>
<origin rpy="0 0 0" xyz="0.11017 0 0.05426"/>
</joint>
- <link name="gaze"/>
+ <link name="gaze">
+ <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="LHipYaw" type="revolute">
<parent link="body"/>
<child link="LHipYawLink"/>
@@ -207,7 +214,14 @@
<child link="l_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint>
- <link name="l_sole"/>
+ <link name="l_sole">
+ <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="RHipYaw" type="revolute">
<parent link="body"/>
<child link="RHipYawLink"/>
@@ -327,8 +341,22 @@
<child link="r_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.0684"/>
</joint>
- <link name="r_sole"/>
- <link name="base_link"/>
+ <link name="r_sole">
+ <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>
+
+ <link name="base_link">
+ <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="waist" type="fixed">
<parent link="base_link"/>
<child link="body"/>
@@ -671,121 +699,261 @@
</geometry>
</collision>
</link>
- <link name="ImuTorsoGyrometer_frame"/>
+ <link name="ImuTorsoGyrometer_frame">
+ <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="ImuTorsoGyrometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoGyrometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint>
- <link name="RFsrRCenter_frame"/>
+ <link name="RFsrRCenter_frame">
+ <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="RFsrRCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint>
- <link name="LFsrRCenter_frame"/>
+ <link name="LFsrRCenter_frame">
+ <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="LFsrRCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrRCenter_frame"/>
<origin rpy="0 0 0" xyz="-0.04 0 -0.0646"/>
</joint>
- <link name="RFsrFR_frame"/>
+ <link name="RFsrFR_frame">
+ <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="RFsrFR_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/>
</joint>
- <link name="CameraLeftEye_frame"/>
+ <link name="CameraLeftEye_frame">
+ <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="CameraLeftEye_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraLeftEye_frame"/>
<origin rpy="0 0 0" xyz="0.11017 0.03192 0.05426"/>
</joint>
- <link name="CameraRight_frame"/>
+ <link name="CameraRight_frame">
+ <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="CameraRight_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRight_frame"/>
<origin rpy="0 0 0" xyz="0.11999 -0.04 0.09938"/>
</joint>
- <link name="ImuHeadGyrometer_frame"/>
+ <link name="ImuHeadGyrometer_frame">
+ <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="ImuHeadGyrometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadGyrometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint>
- <link name="ImuHeadAccelerometer_frame"/>
+ <link name="ImuHeadAccelerometer_frame">
+ <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="ImuHeadAccelerometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadAccelerometer_frame"/>
<origin rpy="0 0 1.57079632679" xyz="-0.01135 -0.04225 0.16011"/>
</joint>
- <link name="HeadTouchMiddle_frame"/>
+ <link name="HeadTouchMiddle_frame">
+ <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="HeadTouchMiddle_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchMiddle_frame"/>
<origin rpy="0 -1.57079632679 0" xyz="0.001 0 0.1099"/>
</joint>
- <link name="CameraLeft_frame"/>
+ <link name="CameraLeft_frame">
+ <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="CameraLeft_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraLeft_frame"/>
<origin rpy="0 0 0" xyz="0.11999 0.04 0.09938"/>
</joint>
- <link name="RFsrCenter_frame"/>
+ <link name="RFsrCenter_frame">
+ <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="RFsrCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint>
- <link name="LFsrCenter_frame"/>
+ <link name="LFsrCenter_frame">
+ <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="LFsrCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrCenter_frame"/>
<origin rpy="0 0 0" xyz="0.073 0.02 -0.0646"/>
</joint>
- <link name="CameraDepth_frame"/>
+ <link name="CameraDepth_frame">
+ <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="CameraDepth_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraDepth_frame"/>
<origin rpy="2.0043951 0 1.57079632679" xyz="0.1403 -0.04708 0.14655"/>
</joint>
- <link name="ImuTorsoAccelerometer_frame"/>
+ <link name="ImuTorsoAccelerometer_frame">
+ <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="ImuTorsoAccelerometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoAccelerometer_frame"/>
<origin rpy="0 0 0" xyz="0.06185 0.0087 -0.1582"/>
</joint>
- <link name="RFsrFL_frame"/>
+ <link name="RFsrFL_frame">
+ <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="RFsrFL_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/>
</joint>
- <link name="LFsrFL_frame"/>
+ <link name="LFsrFL_frame">
+ <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="LFsrFL_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.13 0.0337 -0.0646"/>
</joint>
- <link name="CameraRightEye_frame"/>
+ <link name="CameraRightEye_frame">
+ <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="CameraRightEye_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRightEye_frame"/>
<origin rpy="0 0 0" xyz="0.11017 -0.03192 0.05426"/>
</joint>
- <link name="HeadTouchFront_frame"/>
+ <link name="HeadTouchFront_frame">
+ <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="HeadTouchFront_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchFront_frame"/>
<origin rpy="0 -1.186099535 0" xyz="0.0312 0 0.1014"/>
</joint>
- <link name="LFsrFR_frame"/>
+ <link name="LFsrFR_frame">
+ <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="LFsrFR_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.13 -0.0337 -0.0646"/>
</joint>
- <link name="HeadTouchRear_frame"/>
+ <link name="HeadTouchRear_frame">
+ <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="HeadTouchRear_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchRear_frame"/>
@@ -796,13 +964,26 @@
<child link="l_gripper"/>
<origin rpy="-1.57079633 0 0" xyz="0.09 0 -0.02"/>
</joint>
- <link name="l_gripper"/>
+ <link name="l_gripper">
+ <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="r_gripper_joint" type="fixed">
<parent link="r_wrist"/>
<child link="r_gripper"/>
<origin rpy="-1.57079633 0 0" xyz="0.09 0 -0.02"/>
</joint>
- <link name="r_gripper"/>
+ <link name="r_gripper">
+ <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>
+
<link name="LFinger11Link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
--
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