diff --git a/robots/anymal_b_simple_description/robots/anymal-kinova.urdf b/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
index 450422461c1a463d4cb6d8ffd652a775c71e72c3..2031152048a68c84e738b33e2315db79cea9fca6 100644
--- a/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
+++ b/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
@@ -1,10 +1,10 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from anymal.urdf.xacro | -->
-<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- | This URDF was edited to fix inertias. | -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
-<robot name="anymal" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="anymal"
+ xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
@@ -100,21 +100,26 @@
<box size="0.531 0.02 0.07"/>
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
+ <mass value="16.793507758"/>
+ <inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
+ </inertial>
</link>
<!-- Fixed joint to add dummy inertia link -->
- <joint name="base_to_base_inertia" type="fixed">
+ <!-- <joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
+ </joint> -->
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
- <link name="base_inertia">
+ <!-- <link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
<mass value="16.793507758"/>
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
</inertial>
- </link>
+ </link> -->
<!-- Xacro:Properties -->
<!-- [kg * m^2] -->
<!-- [A] -->
@@ -278,6 +283,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <!-- Bullet specific parameters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <stiffness value="300000"/>
+ <damping value="15000"/>
+ <!--<restitution value="0.5"/>-->
+ </contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="LF_FOOT">
@@ -449,6 +466,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <!-- Bullet specific parameters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <stiffness value="300000"/>
+ <damping value="15000"/>
+ <!--<restitution value="0.5"/>-->
+ </contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="RF_FOOT">
@@ -620,6 +649,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <!-- Bullet specific parameters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <stiffness value="300000"/>
+ <damping value="15000"/>
+ <!--<restitution value="0.5"/>-->
+ </contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="LH_FOOT">
@@ -791,6 +832,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <!-- Bullet specific parameters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <stiffness value="300000"/>
+ <damping value="15000"/>
+ <!--<restitution value="0.5"/>-->
+ </contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="RH_FOOT">
@@ -825,475 +878,504 @@
<origin rpy="0 3.14159265359 0" xyz="0.038 0.06245 0.1837"/>
</joint>
- <link name="jaco_front_hatch_support_v2">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
- </geometry>
- </visual>
- </link>
- <joint name="base_to_jaco_support" type="fixed">
- <parent link="base"/>
- <child link="jaco_front_hatch_support_v2"/>
- <origin rpy="0 0 0" xyz="0.2692 0.00 0.06713"/>
- </joint>
+ <link name="jaco_front_hatch_support_v2">
+ <!-- TODO: Proper inertia -->
+ <inertial>
+ <mass value="0.205"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.02325"/>
+ <geometry>
+ <sphere radius="0.031"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="base_to_jaco_support" type="fixed">
+ <parent link="base"/>
+ <child link="jaco_front_hatch_support_v2"/>
+ <origin rpy="0 0 0" xyz="0.2692 0.00 0.06713"/>
+ </joint>
- <link name="jaco_mounting_block">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/jaco_mounting_block.dae"/>
- </geometry>
- </visual>
- </link>
- <joint name="jaco_support_to_jaco_mounting_block" type="fixed">
- <parent link="jaco_front_hatch_support_v2"/>
- <child link="jaco_mounting_block"/>
- <origin rpy="0 0 0" xyz="0.045 0.00 -0.007626"/>
- </joint>
+ <link name="jaco_mounting_block">
+ <!-- TODO: Proper inertia -->
+ <inertial>
+ <mass value="0.1741"/><!-- Volume = 0.000064 m^3; aluminium density (alloy 6061) = 2720 kg/m^3 -->
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/jaco_mounting_block.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.02325"/>
+ <geometry>
+ <sphere radius="0.031"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="jaco_support_to_jaco_mounting_block" type="fixed">
+ <parent link="jaco_front_hatch_support_v2"/>
+ <child link="jaco_mounting_block"/>
+ <origin rpy="0 0 0" xyz="0.045 0.00 -0.007626"/>
+ </joint>
- <link name="j2s6s200_link_base">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/base.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.3 0.3 0.3 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/base.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.46784"/>
- <origin rpy="0 0 0" xyz="0 0 0.1255"/>
- <inertia ixx="0.000951270861568" ixy="0" ixz="0" iyy="0.000951270861568" iyz="0" izz="0.000374272"/>
- </inertial>
- </link>
- <joint name="jaco_mounting_block_to_j2s6s200_link_base" type="fixed">
- <parent link="jaco_mounting_block"/>
- <child link="j2s6s200_link_base"/>
- <axis xyz="0 0 0"/>
- <limit effort="0" lower="0" upper="0" velocity="0"/>
- <origin rpy="0 0 1.57079632679" xyz="0.000 0.000 0.000"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <link name="j2s6s200_link_1">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.3 0.3 0.3 1"/>
- </material>
- </visual>
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.7477"/>
- <origin xyz="0 -0.002 -0.0605"/>
- <inertia ixx="0.00152031725204" ixy="0" ixz="0" iyy="0.00152031725204" iyz="0" izz="0.00059816"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_1" type="revolute">
- <parent link="j2s6s200_link_base"/>
- <child link="j2s6s200_link_1"/>
- <axis xyz="0 0 1"/>
- <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="0.628318530718"/>
- <origin rpy="0 3.14159265359 0" xyz="0 0 0.15675"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="j2s6s200_joint_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_1">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_1_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>160</mechanicalReduction>
- </actuator>
- </transmission>
- <link name="j2s6s200_link_2">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/arm.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.3 0.3 0.3 1"/>
- </material>
- </visual>
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/arm.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.99"/>
- <origin xyz="0 -0.2065 -0.01"/>
- <inertia ixx="0.010502207991" ixy="0" ixz="0" iyy="0.000792" iyz="0" izz="0.010502207991"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_2" type="revolute">
- <parent link="j2s6s200_link_1"/>
- <child link="j2s6s200_link_2"/>
- <axis xyz="0 0 1"/>
- <limit effort="80" lower="0.820304748437" upper="5.46288055874" velocity="0.628318530718"/>
- <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.0016 -0.11875"/>
- <dynamics damping="0.0" friction="0.0"/>
+ <link name="j2s6s200_link_base">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/base.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/base.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.46784"/>
+ <origin rpy="0 0 0" xyz="0 0 0.1255"/>
+ <inertia ixx="0.000951270861568" ixy="0" ixz="0" iyy="0.000951270861568" iyz="0" izz="0.000374272"/>
+ </inertial>
+ </link>
+ <joint name="jaco_mounting_block_to_j2s6s200_link_base" type="fixed">
+ <parent link="jaco_mounting_block"/>
+ <child link="j2s6s200_link_base"/>
+ <axis xyz="0 0 0"/>
+ <limit effort="0" lower="0" upper="0" velocity="0"/>
+ <origin rpy="0 0 1.57079632679" xyz="0.000 0.000 0.000"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <link name="j2s6s200_link_1">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ </visual>
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.7477"/>
+ <origin xyz="0 -0.002 -0.0605"/>
+ <inertia ixx="0.00152031725204" ixy="0" ixz="0" iyy="0.00152031725204" iyz="0" izz="0.00059816"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_1" type="revolute"><!-- continuous -->
+ <parent link="j2s6s200_link_base"/>
+ <child link="j2s6s200_link_1"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="0.628318530718"/>
+ <origin rpy="0 3.14159265359 0" xyz="0 0 0.15675"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="j2s6s200_joint_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_1">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <transmission name="j2s6s200_joint_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_2">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_2_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>160</mechanicalReduction>
- </actuator>
- </transmission>
- <link name="j2s6s200_link_3">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/forearm.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.3 0.3 0.3 1"/>
- </material>
- </visual>
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/forearm.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.6763"/>
- <origin xyz="0 0.081 -0.0086"/>
- <inertia ixx="0.00142022431908" ixy="0" ixz="0" iyy="0.000304335" iyz="0" izz="0.00142022431908"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_3" type="revolute">
- <parent link="j2s6s200_link_2"/>
- <child link="j2s6s200_link_3"/>
- <axis xyz="0 0 1"/>
- <limit effort="40" lower="0.331612557879" upper="5.9515727493" velocity="0.628318530718"/>
- <origin rpy="0 3.14159265359 0" xyz="0 -0.410 0"/>
- <dynamics damping="0.0" friction="0.0"/>
+ <actuator name="j2s6s200_joint_1_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>160</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="j2s6s200_link_2">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/arm.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ </visual>
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/arm.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.99"/>
+ <origin xyz="0 -0.2065 -0.01"/>
+ <inertia ixx="0.010502207991" ixy="0" ixz="0" iyy="0.000792" iyz="0" izz="0.010502207991"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_2" type="revolute">
+ <parent link="j2s6s200_link_1"/>
+ <child link="j2s6s200_link_2"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="80" lower="0.820304748437" upper="5.46288055874" velocity="0.628318530718"/>
+ <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.0016 -0.11875"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="j2s6s200_joint_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_2">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <transmission name="j2s6s200_joint_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_3">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_3_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>160</mechanicalReduction>
- </actuator>
- </transmission>
- <link name="j2s6s200_link_4">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.3 0.3 0.3 1"/>
- </material>
- </visual>
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.463"/>
- <origin xyz="0 0.0028848942 -0.0541932613"/>
- <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="0.0004321316048" iyz="0" izz="9.26e-05"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_4" type="revolute">
- <parent link="j2s6s200_link_3"/>
- <child link="j2s6s200_link_4"/>
- <axis xyz="0 0 1"/>
- <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="0.837758040957"/>
- <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.2073 -0.0114"/>
- <dynamics damping="0.0" friction="0.0"/>
+ <actuator name="j2s6s200_joint_2_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>160</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="j2s6s200_link_3">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/forearm.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ </visual>
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/ring_big.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/forearm.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.6763"/>
+ <origin xyz="0 0.081 -0.0086"/>
+ <inertia ixx="0.00142022431908" ixy="0" ixz="0" iyy="0.000304335" iyz="0" izz="0.00142022431908"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_3" type="revolute">
+ <parent link="j2s6s200_link_2"/>
+ <child link="j2s6s200_link_3"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="40" lower="0.331612557879" upper="5.9515727493" velocity="0.628318530718"/>
+ <origin rpy="0 3.14159265359 0" xyz="0 -0.410 0"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="j2s6s200_joint_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_3">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <transmission name="j2s6s200_joint_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_4">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_4_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>160</mechanicalReduction>
- </actuator>
- </transmission>
- <link name="j2s6s200_link_5">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.3 0.3 0.3 1"/>
- </material>
- </visual>
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.463"/>
- <origin xyz="0 0.0497208855 -0.0028562765"/>
- <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="9.26e-05" iyz="0" izz="0.0004321316048"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_5" type="revolute">
- <parent link="j2s6s200_link_4"/>
- <child link="j2s6s200_link_5"/>
- <axis xyz="0 0 1"/>
- <limit effort="20" lower="0.523598775598" upper="5.75958653158" velocity="0.837758040957"/>
- <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.10375"/>
- <dynamics damping="0.0" friction="0.0"/>
+ <actuator name="j2s6s200_joint_3_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>160</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="j2s6s200_link_4">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ </visual>
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.463"/>
+ <origin xyz="0 0.0028848942 -0.0541932613"/>
+ <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="0.0004321316048" iyz="0" izz="9.26e-05"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_4" type="revolute"><!-- continuous -->
+ <parent link="j2s6s200_link_3"/>
+ <child link="j2s6s200_link_4"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="0.837758040957"/>
+ <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.2073 -0.0114"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="j2s6s200_joint_4_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_4">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <transmission name="j2s6s200_joint_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_5">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_5_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>160</mechanicalReduction>
- </actuator>
- </transmission>
- <link name="j2s6s200_link_6">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.3 0.3 0.3 1"/>
- </material>
- </visual>
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.99"/>
- <origin xyz="0 0 -0.06"/>
- <inertia ixx="0.0003453236187" ixy="0" ixz="0" iyy="0.0003453236187" iyz="0" izz="0.0005816"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_6" type="revolute">
- <parent link="j2s6s200_link_5"/>
- <child link="j2s6s200_link_6"/>
- <axis xyz="0 0 1"/>
- <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="0.837758040957"/>
- <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.10375 0"/>
- <dynamics damping="0.0" friction="0.0"/>
+ <actuator name="j2s6s200_joint_4_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>160</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="j2s6s200_link_5">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ </visual>
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.463"/>
+ <origin xyz="0 0.0497208855 -0.0028562765"/>
+ <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="9.26e-05" iyz="0" izz="0.0004321316048"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_5" type="revolute">
+ <parent link="j2s6s200_link_4"/>
+ <child link="j2s6s200_link_5"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="20" lower="0.523598775598" upper="5.75958653158" velocity="0.837758040957"/>
+ <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.10375"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="j2s6s200_joint_5_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_5">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <transmission name="j2s6s200_joint_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_6">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_6_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>160</mechanicalReduction>
- </actuator>
- </transmission>
- <link name="j2s6s200_end_effector"/>
- <joint name="j2s6s200_joint_end_effector" type="fixed">
- <parent link="j2s6s200_link_6"/>
- <child link="j2s6s200_end_effector"/>
- <axis xyz="0 0 0"/>
- <limit effort="2000" lower="0" upper="0" velocity="1"/>
- <!-- <origin rpy="3.14159265359 0 1.57079632679" xyz="0 0 -0.1600"/> -->
- <origin rpy="3.14159265359 1.57079632679 0" xyz="0 0 -0.1600"/>
+ <actuator name="j2s6s200_joint_5_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>160</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="j2s6s200_link_6">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ </visual>
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/ring_small.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.99"/>
+ <origin xyz="0 0 -0.06"/>
+ <inertia ixx="0.0003453236187" ixy="0" ixz="0" iyy="0.0003453236187" iyz="0" izz="0.0005816"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_6" type="revolute"><!-- revolute -->
+ <parent link="j2s6s200_link_5"/>
+ <child link="j2s6s200_link_6"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="0.837758040957"/>
+ <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.10375 0"/>
+ <dynamics damping="0.0" friction="0.0"/>
+ </joint>
+ <transmission name="j2s6s200_joint_6_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_6">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <link name="j2s6s200_link_finger_1">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0.022 0 0"/>
- <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_finger_1" type="fixed">
- <parent link="j2s6s200_link_6"/>
- <child link="j2s6s200_link_finger_1"/>
- <axis xyz="0 0 1"/>
- <origin rpy="-1.570796327 .649262481663582 1.57079632679490" xyz="-0.0025 0.03095 -0.11482"/>
- <limit effort="2" lower="0" upper="1.51" velocity="1"/>
+ <actuator name="j2s6s200_joint_6_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>160</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="j2s6s200_end_effector">
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_end_effector" type="fixed">
+ <parent link="j2s6s200_link_6"/>
+ <child link="j2s6s200_end_effector"/>
+ <axis xyz="0 0 0"/>
+ <limit effort="2000" lower="0" upper="0" velocity="1"/>
+ <!-- <origin rpy="3.14159265359 0 1.57079632679" xyz="0 0 -0.1600"/> -->
+ <origin rpy="3.14159265359 1.57079632679 0" xyz="0 0 -0.1600"/>
+ </joint>
+ <link name="j2s6s200_link_finger_1">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.01"/>
+ <origin xyz="0.022 0 0"/>
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_finger_1" type="fixed">
+ <parent link="j2s6s200_link_6"/>
+ <child link="j2s6s200_link_finger_1"/>
+ <axis xyz="0 0 1"/>
+ <origin rpy="-1.570796327 .649262481663582 1.57079632679490" xyz="-0.0025 0.03095 -0.11482"/>
+ <limit effort="2" lower="0" upper="1.51" velocity="1"/>
+ </joint>
+ <transmission name="j2s6s200_joint_finger_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_finger_1">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <transmission name="j2s6s200_joint_finger_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_finger_1">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_finger_1_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
- <link name="j2s6s200_link_finger_tip_1">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0.022 0 0"/>
- <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_finger_tip_1" type="fixed">
- <parent link="j2s6s200_link_finger_1"/>
- <child link="j2s6s200_link_finger_tip_1"/>
- <axis xyz="0 0 1"/>
- <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
- <limit effort="2" lower="0" upper="2" velocity="1"/>
+ <actuator name="j2s6s200_joint_finger_1_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="j2s6s200_link_finger_tip_1">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.01"/>
+ <origin xyz="0.022 0 0"/>
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_finger_tip_1" type="fixed">
+ <parent link="j2s6s200_link_finger_1"/>
+ <child link="j2s6s200_link_finger_tip_1"/>
+ <axis xyz="0 0 1"/>
+ <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
+ <limit effort="2" lower="0" upper="2" velocity="1"/>
+ </joint>
+ <transmission name="j2s6s200_joint_finger_tip_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_finger_tip_1">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <transmission name="j2s6s200_joint_finger_tip_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_finger_tip_1">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_finger_tip_1_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
- <link name="j2s6s200_link_finger_2">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0.022 0 0"/>
- <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_finger_2" type="fixed">
- <parent link="j2s6s200_link_6"/>
- <child link="j2s6s200_link_finger_2"/>
- <axis xyz="0 0 1"/>
- <origin rpy="-1.570796327 .649262481663582 -1.57079632679490" xyz="-0.0025 -0.03095 -0.11482"/>
- <limit effort="2" lower="0" upper="1.51" velocity="1"/>
+ <actuator name="j2s6s200_joint_finger_tip_1_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="j2s6s200_link_finger_2">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.01"/>
+ <origin xyz="0.022 0 0"/>
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_finger_2" type="fixed">
+ <parent link="j2s6s200_link_6"/>
+ <child link="j2s6s200_link_finger_2"/>
+ <axis xyz="0 0 1"/>
+ <origin rpy="-1.570796327 .649262481663582 -1.57079632679490" xyz="-0.0025 -0.03095 -0.11482"/>
+ <limit effort="2" lower="0" upper="1.51" velocity="1"/>
+ </joint>
+ <transmission name="j2s6s200_joint_finger_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_finger_2">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <transmission name="j2s6s200_joint_finger_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_finger_2">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_finger_2_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
- <link name="j2s6s200_link_finger_tip_2">
- <visual>
- <geometry>
- <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
- </geometry>
- <material name="carbon_fiber">
- <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
- </geometry>
- </collision>
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0.022 0 0"/>
- <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
- </inertial>
- </link>
- <joint name="j2s6s200_joint_finger_tip_2" type="fixed">
- <parent link="j2s6s200_link_finger_2"/>
- <child link="j2s6s200_link_finger_tip_2"/>
- <axis xyz="0 0 1"/>
- <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
- <limit effort="2" lower="0" upper="2" velocity="1"/>
+ <actuator name="j2s6s200_joint_finger_2_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <link name="j2s6s200_link_finger_tip_2">
+ <visual>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+ </geometry>
+ <material name="carbon_fiber">
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.01"/>
+ <origin xyz="0.022 0 0"/>
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
+ </inertial>
+ </link>
+ <joint name="j2s6s200_joint_finger_tip_2" type="fixed">
+ <parent link="j2s6s200_link_finger_2"/>
+ <child link="j2s6s200_link_finger_tip_2"/>
+ <axis xyz="0 0 1"/>
+ <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
+ <limit effort="2" lower="0" upper="2" velocity="1"/>
+ </joint>
+ <transmission name="j2s6s200_joint_finger_tip_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="j2s6s200_joint_finger_tip_2">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <transmission name="j2s6s200_joint_finger_tip_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="j2s6s200_joint_finger_tip_2">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="j2s6s200_joint_finger_tip_2_actuator">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
+ <actuator name="j2s6s200_joint_finger_tip_2_actuator">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
</robot>
diff --git a/robots/anymal_b_simple_description/robots/anymal.urdf b/robots/anymal_b_simple_description/robots/anymal.urdf
index b5dd522db1d287db5d68e2101e876b5ac149cd8a..42124ba06d68fe9fb720cf929184b5df2a8c7a2e 100644
--- a/robots/anymal_b_simple_description/robots/anymal.urdf
+++ b/robots/anymal_b_simple_description/robots/anymal.urdf
@@ -1,10 +1,10 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from anymal.urdf.xacro | -->
-<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- | This URDF was edited to fix inertias. | -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
-<robot name="anymal" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="anymal"
+ xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
@@ -100,21 +100,26 @@
<box size="0.531 0.02 0.07"/>
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
+ <mass value="16.793507758"/>
+ <inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
+ </inertial>
</link>
<!-- Fixed joint to add dummy inertia link -->
- <joint name="base_to_base_inertia" type="fixed">
+ <!-- <joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
+ </joint> -->
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
- <link name="base_inertia">
+ <!-- <link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
<mass value="16.793507758"/>
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
</inertial>
- </link>
+ </link> -->
<!-- Xacro:Properties -->
<!-- [kg * m^2] -->
<!-- [A] -->
@@ -278,6 +283,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <!-- Bullet specific parameters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <stiffness value="300000"/>
+ <damping value="15000"/>
+ <!--<restitution value="0.5"/>-->
+ </contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="LF_FOOT">
@@ -449,6 +466,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <!-- Bullet specific parameters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <stiffness value="300000"/>
+ <damping value="15000"/>
+ <!--<restitution value="0.5"/>-->
+ </contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="RF_FOOT">
@@ -620,6 +649,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <!-- Bullet specific parameters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <stiffness value="300000"/>
+ <damping value="15000"/>
+ <!--<restitution value="0.5"/>-->
+ </contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="LH_FOOT">
@@ -791,6 +832,18 @@
<sphere radius="0.031"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="4.90e-07" ixy="0.0" ixz="0.0" iyy="4.90e-07" iyz="0.0" izz="4.90e-07"/>
+ <!-- for a sphere: 2/5 m * r**2 -->
+ </inertial>
+ <!-- Bullet specific parameters -->
+ <contact>
+ <lateral_friction value="1.0"/>
+ <stiffness value="300000"/>
+ <damping value="15000"/>
+ <!--<restitution value="0.5"/>-->
+ </contact>
</link>
<!-- Gazebo customization -->
<gazebo reference="RH_FOOT">
diff --git a/robots/hyq_description/robots/hyq_no_sensors.urdf b/robots/hyq_description/robots/hyq_no_sensors.urdf
index 7de0fa9657ea436fdb0b6bd060ee8c121f246322..9b2b221edf059b63282c26b13b1e13b5b2f378a4 100644
--- a/robots/hyq_description/robots/hyq_no_sensors.urdf
+++ b/robots/hyq_description/robots/hyq_no_sensors.urdf
@@ -73,6 +73,10 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
<!-- Links -->
<!-- Footprint 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>
<visual>
<geometry>
<cylinder length="0.01" radius="0.01"/>
@@ -203,6 +207,15 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
</link>
<!-- Foot link -->
<link name="lf_foot">
+ <contact>
+ <lateral_friction value="1"/>
+ <stiffness value="30000"/>
+ <damping value="1000"/>
+ </contact>
+ <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>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
@@ -409,6 +422,15 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
</link>
<!-- Foot link -->
<link name="rf_foot">
+ <contact>
+ <lateral_friction value="1"/>
+ <stiffness value="30000"/>
+ <damping value="1000"/>
+ </contact>
+ <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>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
@@ -615,6 +637,15 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
</link>
<!-- Foot link -->
<link name="lh_foot">
+ <contact>
+ <lateral_friction value="1"/>
+ <stiffness value="30000"/>
+ <damping value="1000"/>
+ </contact>
+ <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>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
@@ -821,6 +852,15 @@ is the world frame). For more, see http://ros.org/wiki/xacro -->
</link>
<!-- Foot link -->
<link name="rh_foot">
+ <contact>
+ <lateral_friction value="1"/>
+ <stiffness value="30000"/>
+ <damping value="1000"/>
+ </contact>
+ <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>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
diff --git a/robots/romeo_description/meshes/PLACEHOLDER b/robots/romeo_description/meshes/PLACEHOLDER
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/robots/romeo_description/meshes/convert.sh b/robots/romeo_description/meshes/convert.sh
deleted file mode 100755
index 6154aad15947db17661af26f6d2a0ea406b0fdaf..0000000000000000000000000000000000000000
--- a/robots/romeo_description/meshes/convert.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-for i in `find . -name '*.wrl'`; do
- meshlabserver -i $i -o `pwd`/$(echo `basename $i` | sed 's|.wrl$|.dae|')
-done