From 2f64985b025600a2e1720ee8cbdfc73c699e6996 Mon Sep 17 00:00:00 2001
From: Thibault Poignonec <tpoignonec@unistra.fr>
Date: Wed, 28 Aug 2024 11:18:38 +0200
Subject: [PATCH] add default masses

---
 fd_description/config/fd.config.xacro | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/fd_description/config/fd.config.xacro b/fd_description/config/fd.config.xacro
index 312c8d1..56da320 100644
--- a/fd_description/config/fd.config.xacro
+++ b/fd_description/config/fd.config.xacro
@@ -25,5 +25,11 @@
         ignore_orientation_readings="false"
         use_clutch="$(arg use_clutch)"
         emulate_button="true"
-    /> <!-- orientation_is_actuated = use_orientation for now (see HW impl.) -->
+        effector_mass="-1.0"
+    />
+
+    <!-- Default effector masses:
+        - 0.148 kg for the Omega 3 device
+        - 0.5 kg for the Omega 6 device
+    -->
 </robot>