Add dummy inertias for Gazebo simulation

Signed-off-by: Emiliano Borghi <emiliano@smartmachine.nz>
LORD-MicroStrain · Jul 8, 2024 · 8f190d8 · 8f190d8
1 parent ba60f4a
commit 8f190d8
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/microstrain_inertial_description/urdf/cv7.urdf.xacro b/microstrain_inertial_description/urdf/cv7.urdf.xacro
@@ -13,9 +13,11 @@
  </geometry>
  <material name="cv7_material"/>
  </visual>
+ <xacro:inertial_cuboid mass="0.001" x_length="0.1" y_length="0.1" z_length="0.1"/>
  </link>
 
  <link name="${name}">
+ <xacro:inertial_cuboid mass="0.001" x_length="0.1" y_length="0.1" z_length="0.1"/>
  </link>
 
  <!-- This joint handles the center of the CV7, but measurements will not be produced WRT to this, it is just easier to place on robots -->