Merge branch 'master' into 'master'

[srdf] add rotor parameters (only the template) to the srdf

See merge request pyrene-dev/talos_data!5

srdf/talos.srdf

@@ -161,6 +161,41 @@
         <joint name="torso_2_joint" value="0.006761" />
     </group_state>
 
+    
+    <rotor_params>
+        <joint name="arm_left_1_joint" mass="1e-5" gear_ratio="100."  />
+        <joint name="arm_left_2_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_left_3_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_left_4_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_left_5_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_left_6_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_left_7_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_right_1_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_right_2_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_right_3_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_right_4_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_right_5_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_right_6_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="arm_right_7_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="head_1_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="head_2_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_left_1_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_left_2_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_left_3_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_left_4_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_left_5_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_left_6_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_right_1_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_right_2_joint" mass="1e-5" gear_ratio="100."  />
+        <joint name="leg_right_3_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_right_4_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_right_5_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="leg_right_6_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="torso_1_joint" mass="1e-5" gear_ratio="100." />
+        <joint name="torso_2_joint" mass="1e-5" gear_ratio="100." />
+   </rotor_params>
+    
+
   <!--
    Talos Specificities.
      foot height = y axis