Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

This really is ridiculous:

Even for virtual links like plate_footprint or if you wanna have more dof at one joint you need at least to add inertial and a mass value and an inertia of none zero:

<link name="plate_footprint" >
<inertial>
   <origin rpy="${0} 0 0" xyz="0.0 0.0 0.0"/>
   <mass value="0.001" />
   <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
</inertial>
</link>