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temporary dummy interia value to pass gz fortress parsing
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Elvin authored and Elvin committed Jul 31, 2024
1 parent 9f49717 commit a4a7fd6
Showing 1 changed file with 8 additions and 3 deletions.
11 changes: 8 additions & 3 deletions tiago_description/urdf/arm/arm.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -49,9 +49,14 @@
<link name="${name}_1_link">
<inertial>
<!--<origin xyz="0.061191 ${reflect * -0.022397} -0.012835" rpy="0.00000 0.00000 0.00000"/>-->
<origin xyz="0.061191 -0.022397 ${reflect * -0.012835}" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.563428"/>
<inertia ixx="0.002471" ixy="${reflect * -0.001809}" ixz="-0.001202" iyy="0.006132" iyz="${reflect * 0.000494}" izz="0.006704"/>
<!--<origin xyz="0.061191 -0.022397 ${reflect * -0.012835}" rpy="0.00000 0.00000 0.00000"/>-->
<!-- <origin xyz="0.061191 -0.022397 0.012835" rpy="0.00000 0.00000 0.00000"/> -->
<!-- <mass value="1.563428"/> -->
<!--<inertia ixx="0.002471" ixy="${reflect * -0.001809}" ixz="-0.001202" iyy="0.006132" iyz="${reflect * 0.000494}" izz="0.006704"/>-->
<!-- <inertia ixx="0.002471" ixy="0.001809" ixz="-0.001202" iyy="0.006132" iyz="-0.000494" izz="0.006704"/>-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="1.0"/>
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
</inertial>
<!-- M90 module -->
<visual>
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