From 1f2e1cd2364d35d8a5fceccfc1733438efbfb922 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 9 Oct 2019 19:01:18 +0200
Subject: [PATCH] Add fixed link.
---
urdf/talos_full_common.urdf.xacro | 7 ++++---
urdf/torso/torso.urdf.xacro | 9 +++++++++
2 files changed, 13 insertions(+), 3 deletions(-)
diff --git a/urdf/talos_full_common.urdf.xacro b/urdf/talos_full_common.urdf.xacro
index e2fd331..47d7364 100644
--- a/urdf/talos_full_common.urdf.xacro
+++ b/urdf/talos_full_common.urdf.xacro
@@ -22,10 +22,11 @@
<xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
- <!-- <xacro:if value="$(arg enable_leg_passive)"> -->
+ <xacro:if value="$(arg enable_leg_passive)">
<xacro:include filename="$(find talos_data)/urdf/leg/leg_passive.urdf.xacro" />
- <!-- </xacro:if> -->
- <!-- <xacro:unless value="$(arg enable_leg_passive)">
+ </xacro:if>
+ <xacro:unless name="var_enable_leg_passive" value="$(arg enable_leg_passive)"/>
+ <xacro:unless value="${var_enable_leg_passive != 'true'}">
<xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
</xacro:unless> -->
diff --git a/urdf/torso/torso.urdf.xacro b/urdf/torso/torso.urdf.xacro
index c61cdb8..f264042 100644
--- a/urdf/torso/torso.urdf.xacro
+++ b/urdf/torso/torso.urdf.xacro
@@ -105,6 +105,15 @@
</collision>
</link>
+ <!-- <xacro:if value="$(arg enable_fixed_robot)"> -->
+ <link name="world"/>
+
+ <joint name="fixed" type="fixed">
+ <parent link="world"/>
+ <child link="base_link"/>
+ </joint>
+ <!-- </xacro:if> -->
+
<joint name="${name}_2_joint" type="revolute">
<parent link="${name}_1_link"/>
<child link="${name}_2_link"/>
--
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