From b1703ff70c8e6bc1cc47b1c9f686e96414030d98 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 3 Mar 2021 22:06:45 +0100
Subject: [PATCH] =?UTF-8?q?Full=20TALOS.=C5=93?=
MIME-Version: 1.0
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---
robots/talos_data/robots/talos_full_v2.urdf | 32 ++++++++++++++++++---
1 file changed, 28 insertions(+), 4 deletions(-)
diff --git a/robots/talos_data/robots/talos_full_v2.urdf b/robots/talos_data/robots/talos_full_v2.urdf
index 42afc05..532ca16 100644
--- a/robots/talos_data/robots/talos_full_v2.urdf
+++ b/robots/talos_data/robots/talos_full_v2.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="0.0"/>
+ <inertia ixx="0" ixy="0.0" ixz="0.0" 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="0.0"/>
+ <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" 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="0.0"/>
+ <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" 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="0.0"/>
+ <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" 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">
--
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