From de611aff4ce0a4781e720c2a4994e6f6fc2961f1 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 21 May 2021 19:53:20 +0200
Subject: [PATCH] tiago_dual: fix frame "link" inertia
---
robots/tiago_description/robots/tiago_dual.urdf | 16 ++++++++++++++--
1 file changed, 14 insertions(+), 2 deletions(-)
diff --git a/robots/tiago_description/robots/tiago_dual.urdf b/robots/tiago_description/robots/tiago_dual.urdf
index bf7a4ec..8f3d204 100644
--- a/robots/tiago_description/robots/tiago_dual.urdf
+++ b/robots/tiago_description/robots/tiago_dual.urdf
@@ -3101,7 +3101,13 @@
<mechanicalReduction>0.07391769626507355</mechanicalReduction>
</actuator>
</transmission>
- <link name="hand_left_grasping_frame"/>
+ <link name="hand_left_grasping_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="hand_left_grasping_fixed_joint" type="fixed">
<parent link="hand_left_palm_link"/>
<child link="hand_left_grasping_frame"/>
@@ -5297,7 +5303,13 @@
<mechanicalReduction>0.07391769626507355</mechanicalReduction>
</actuator>
</transmission>
- <link name="hand_right_grasping_frame"/>
+ <link name="hand_right_grasping_frame">
+ <inertial>
+ <mass value="0.0"/>
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0" izz="0.0"/>
+ </inertial>
+ </link>
<joint name="hand_right_grasping_fixed_joint" type="fixed">
<parent link="hand_right_palm_link"/>
<child link="hand_right_grasping_frame"/>
--
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