From bc53ee5d848072dcf65f861a1e8cd8191a9efe2d Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Thu, 28 May 2020 09:55:08 +0100
Subject: [PATCH] [icub] Include tiny inertia for ICub robot
---
robots/icub_description/robots/icub.urdf | 7 ++++++-
robots/icub_description/robots/icub_reduced.urdf | 8 +++++++-
2 files changed, 13 insertions(+), 2 deletions(-)
diff --git a/robots/icub_description/robots/icub.urdf b/robots/icub_description/robots/icub.urdf
index e9525db..e9179f9 100644
--- a/robots/icub_description/robots/icub.urdf
+++ b/robots/icub_description/robots/icub.urdf
@@ -1,6 +1,11 @@
<?xml version="1.0" ?>
<robot name="iCub">
- <link name="base_link" />
+ <link name="base_link">
+ <inertial>
+ <mass value="1e-6"/>
+ <inertia ixx="1e-6" ixy="1e-6" ixz="1e-6" iyy="1e-6" iyz="1e-6" izz="1e-6"/>
+ </inertial>
+ </link>
<link name="chest">
<inertial>
<mass value="4.81" />
diff --git a/robots/icub_description/robots/icub_reduced.urdf b/robots/icub_description/robots/icub_reduced.urdf
index 205d6c0..e9207bb 100644
--- a/robots/icub_description/robots/icub_reduced.urdf
+++ b/robots/icub_description/robots/icub_reduced.urdf
@@ -1,5 +1,11 @@
+<?xml version="1.0" ?>
<robot name="iCub">
- <link name="base_link" />
+ <link name="base_link">
+ <inertial>
+ <mass value="1e-6"/>
+ <inertia ixx="1e-6" ixy="1e-6" ixz="1e-6" iyy="1e-6" iyz="1e-6" izz="1e-6"/>
+ </inertial>
+ </link>
<link name="chest">
<inertial>
<mass value="4.81" />
--
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