From 8b63910c11148eebe876eee277fa3051fe77dd76 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Fri, 5 Feb 2021 12:40:58 +0100
Subject: [PATCH] urdf: move intertia to _body frame
---
urdf/world.xacro | 19 ++++++++++++++-----
1 file changed, 14 insertions(+), 5 deletions(-)
diff --git a/urdf/world.xacro b/urdf/world.xacro
index 6a419db..f178ae1 100644
--- a/urdf/world.xacro
+++ b/urdf/world.xacro
@@ -5,11 +5,6 @@
<link name="$(arg parent)"/>
<link name="$(arg frame)">
- <inertial>
- <mass value="10000"/>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
- </inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
@@ -31,4 +26,18 @@
<axis xyz="0 0 1"/>
</joint>
+ <link name="$(arg frame)_body">
+ <inertial>
+ <mass value="10000"/>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
+ </inertial>
+ </link>
+
+ <joint name="$(arg frame)2$(arg frame)_body" type="fixed">
+ <parent link="$(arg frame)"/>
+ <child link="$(arg frame)_body"/>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ </joint>
+
</robot>
--
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