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Commit 830d1d21 authored by Olivier Stasse's avatar Olivier Stasse
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[talos_reduced] Fix inertia and mass to zero for optical links. 

Letting this unfix is adding 1kg for each link in pybullet.
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robots/talos_data/robots/talos_reduced.urdf
+ 28
− 45
View file @ 830d1d21
......@@ -289,17 +289,6 @@
<!-- inertia tensor computed analytically for a solid cuboid -->
<inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
</inertial>
<!--
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/sensors/orbbec/orbbec.STL"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
-->
<collision>
<origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
<geometry>
......@@ -325,26 +314,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
<link name="rgbd_depth_frame"/>
<link name="rgbd_depth_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="rgbd_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_depth_frame"/>
<child link="rgbd_depth_optical_frame"/>
</joint>
<link name="rgbd_depth_optical_frame"/>
<link name="rgbd_depth_optical_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>
<!-- frames of the rgb sensor -->
<joint name="rgbd_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
<parent link="rgbd_link"/>
<child link="rgbd_rgb_frame"/>
</joint>
<link name="rgbd_rgb_frame"/>
<link name="rgbd_rgb_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="rgbd_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_rgb_frame"/>
<child link="rgbd_rgb_optical_frame"/>
</joint>
<link name="rgbd_rgb_optical_frame"/>
<link name="rgbd_rgb_optical_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>
<!-- extensions -->
<gazebo reference="rgbd_link">
<!-- IR + depth -->
......@@ -449,7 +462,6 @@
<!-- TODO: Missing reflects of inertias -->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
<!-- <mass value="1.52896"/> -->
<mass value="1.42896"/>
<inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
</inertial>
......@@ -482,7 +494,6 @@
<link name="arm_left_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
<!-- <mass value="1.77729"/> -->
<mass value="1.67729"/>
<inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
</inertial>
......@@ -515,7 +526,6 @@
<link name="arm_left_3_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
<!-- <mass value="1.57029"/> -->
<mass value="1.47029"/>
<inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
</inertial>
......@@ -551,7 +561,6 @@
<link name="arm_left_4_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
<!-- <mass value="1.20216"/> -->
<mass value="1.10216"/>
<inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
</inertial>
......@@ -622,7 +631,6 @@
<link name="arm_left_5_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
<!-- <mass value="1.87792"/> -->
<mass value="1.77792"/>
<inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
</inertial>
......@@ -655,7 +663,6 @@
<link name="arm_left_6_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
<!-- <mass value="0.40931"/> -->
<mass value="0.30931"/>
<inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
</inertial>
......@@ -686,15 +693,6 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="arm_left_7_link">
<!-- WRONG VALUES
<inertial>
<origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.02604"/>
<inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
iyy="0.00146400000" iyz="0.00001200000"
izz="0.00090300000"/>
</inertial>
-->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
<mass value="0.308441"/>
......@@ -833,7 +831,6 @@
<!-- TODO: Missing reflects of inertias -->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
<!-- <mass value="1.52896"/> -->
<mass value="1.42896"/>
<inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
</inertial>
......@@ -866,7 +863,6 @@
<link name="arm_right_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
<!-- <mass value="1.77729"/> -->
<mass value="1.67729"/>
<inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
</inertial>
......@@ -899,7 +895,6 @@
<link name="arm_right_3_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
<!-- <mass value="1.57029"/> -->
<mass value="1.47029"/>
<inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
</inertial>
......@@ -935,7 +930,6 @@
<link name="arm_right_4_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
<!-- <mass value="1.20216"/> -->
<mass value="1.10216"/>
<inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
</inertial>
......@@ -1006,7 +1000,6 @@
<link name="arm_right_5_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
<!-- <mass value="1.87792"/> -->
<mass value="1.77792"/>
<inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
</inertial>
......@@ -1039,7 +1032,6 @@
<link name="arm_right_6_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
<!-- <mass value="0.40931"/> -->
<mass value="0.30931"/>
<inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
</inertial>
......@@ -1070,15 +1062,6 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="arm_right_7_link">
<!-- WRONG VALUES
<inertial>
<origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.02604"/>
<inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
iyy="0.00146400000" iyz="0.00001200000"
izz="0.00090300000"/>
</inertial>
-->
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
<mass value="0.308441"/>
......
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