From 610e48d9a183bc85b475bda2ea786d3918db0d6f Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 6 Jan 2023 14:09:21 +0100
Subject: [PATCH] anymal: set 0 mass to camera links
---
.../urdf/anymal.urdf | 144 +++++++++++++++---
1 file changed, 126 insertions(+), 18 deletions(-)
diff --git a/robots/anymal_c_simple_description/urdf/anymal.urdf b/robots/anymal_c_simple_description/urdf/anymal.urdf
index 0d12c98..0bcf135 100644
--- a/robots/anymal_c_simple_description/urdf/anymal.urdf
+++ b/robots/anymal_c_simple_description/urdf/anymal.urdf
@@ -211,7 +211,13 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="depth_camera_front_camera_parent"/>
+ <link name="depth_camera_front_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Depth optical frame joint -->
<joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
@@ -219,7 +225,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
- <link name="depth_camera_front_depth_optical_frame"/>
+ <link name="depth_camera_front_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color frame joint -->
<joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
@@ -227,7 +239,13 @@
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
- <link name="depth_camera_front_color_frame"/>
+ <link name="depth_camera_front_color_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color optical joint -->
<joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_front_color_frame"/>
@@ -235,7 +253,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
- <link name="depth_camera_front_color_optical_frame"/>
+ <link name="depth_camera_front_color_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
@@ -264,7 +288,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="wide_angle_camera_front_camera_parent"/>
+ <link name="wide_angle_camera_front_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Fixed joint base face -->
<joint name="base_face_rear" type="fixed">
<parent link="base"/>
@@ -332,7 +362,13 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="depth_camera_rear_camera_parent"/>
+ <link name="depth_camera_rear_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Depth optical frame joint -->
<joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
@@ -340,7 +376,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
- <link name="depth_camera_rear_depth_optical_frame"/>
+ <link name="depth_camera_rear_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color frame joint -->
<joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
@@ -348,7 +390,13 @@
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
- <link name="depth_camera_rear_color_frame"/>
+ <link name="depth_camera_rear_color_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color optical joint -->
<joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_rear_color_frame"/>
@@ -356,7 +404,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
- <link name="depth_camera_rear_color_optical_frame"/>
+ <link name="depth_camera_rear_color_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
@@ -385,7 +439,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="wide_angle_camera_rear_camera_parent"/>
+ <link name="wide_angle_camera_rear_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Fixed joint base battery -->
<joint name="base_battery" type="fixed">
<parent link="base"/>
@@ -475,7 +535,13 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="depth_camera_left_camera_parent"/>
+ <link name="depth_camera_left_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Depth optical frame joint -->
<joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
@@ -483,7 +549,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
- <link name="depth_camera_left_depth_optical_frame"/>
+ <link name="depth_camera_left_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color frame joint -->
<joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
@@ -491,7 +563,13 @@
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
- <link name="depth_camera_left_color_frame"/>
+ <link name="depth_camera_left_color_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color optical joint -->
<joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_left_color_frame"/>
@@ -499,7 +577,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
- <link name="depth_camera_left_color_optical_frame"/>
+ <link name="depth_camera_left_color_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_right_camera" type="fixed">
@@ -529,7 +613,13 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="depth_camera_right_camera_parent"/>
+ <link name="depth_camera_right_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Depth optical frame joint -->
<joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
@@ -537,7 +627,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
- <link name="depth_camera_right_depth_optical_frame"/>
+ <link name="depth_camera_right_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color frame joint -->
<joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
@@ -545,7 +641,13 @@
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
- <link name="depth_camera_right_color_frame"/>
+ <link name="depth_camera_right_color_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color optical joint -->
<joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_right_color_frame"/>
@@ -553,7 +655,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
- <link name="depth_camera_right_color_optical_frame"/>
+ <link name="depth_camera_right_color_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- parent to cage joint, located between mounting plate on trunk and the cage -->
<joint name="base_to_lidar_cage" type="fixed">
<parent link="base"/>
--
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