From ac46887adeee82bde007ec4c50d7bcf504092af7 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 5 Mar 2021 23:26:54 +0100
Subject: [PATCH] talos_box & talos_full_box: set default link mass to 0
---
robots/talos_data/robots/talos_full_v2.urdf | 22 +++++-----
.../talos_data/robots/talos_full_v2_box.urdf | 32 +++++++++++++--
.../talos_data/robots/talos_reduced_box.urdf | 41 +++++++++++++++----
3 files changed, 71 insertions(+), 24 deletions(-)
diff --git a/robots/talos_data/robots/talos_full_v2.urdf b/robots/talos_data/robots/talos_full_v2.urdf
index 532ca16..245ee6a 100644
--- a/robots/talos_data/robots/talos_full_v2.urdf
+++ b/robots/talos_data/robots/talos_full_v2.urdf
@@ -306,8 +306,8 @@
</joint>
<link name="rgbd_depth_frame">
<inertial>
- <mass value="0.0"/>
- <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0.0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
@@ -318,11 +318,11 @@
</joint>
<link name="rgbd_depth_optical_frame">
<inertial>
- <mass value="0.0"/>
- <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
- </link>
+ </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"/>
@@ -331,11 +331,11 @@
</joint>
<link name="rgbd_rgb_frame">
<inertial>
- <mass value="0.0"/>
- <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
- </link>
+ </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"/>
@@ -343,11 +343,11 @@
</joint>
<link name="rgbd_rgb_optical_frame">
<inertial>
- <mass value="0.0"/>
- <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
- </link>
+ </link>
<gazebo reference="rgbd_link">
<!-- IR + depth -->
<sensor name="rgbd_frame_sensor" type="depth">
diff --git a/robots/talos_data/robots/talos_full_v2_box.urdf b/robots/talos_data/robots/talos_full_v2_box.urdf
index 7c90cad..c5a797b 100644
--- a/robots/talos_data/robots/talos_full_v2_box.urdf
+++ b/robots/talos_data/robots/talos_full_v2_box.urdf
@@ -304,26 +304,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
- <link name="rgbd_depth_frame"/>
+ <link name="rgbd_depth_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0.0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 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"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 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"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 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"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
<gazebo reference="rgbd_link">
<!-- IR + depth -->
<sensor name="rgbd_frame_sensor" type="depth">
diff --git a/robots/talos_data/robots/talos_reduced_box.urdf b/robots/talos_data/robots/talos_reduced_box.urdf
index 0a18b6f..e1baf71 100644
--- a/robots/talos_data/robots/talos_reduced_box.urdf
+++ b/robots/talos_data/robots/talos_reduced_box.urdf
@@ -325,26 +325,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
- <link name="rgbd_depth_frame"/>
+ <link name="rgbd_depth_frame">
+ <inertial>
+ <mass value="0"/>
+ <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="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"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="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"/>
+ <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="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"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- extensions -->
<gazebo reference="rgbd_link">
<!-- IR + depth -->
@@ -2193,8 +2217,8 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
-
+ </collision>
+
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2519,8 +2543,8 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
-
+ </collision>
+
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2786,4 +2810,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
--
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