nose

ristofer · Jan 29, 2018 · 35c4d6d · 35c4d6d
1 parent 634ea4b
commit 35c4d6d
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/urdf/leg.xacro b/urdf/leg.xacro
@@ -45,7 +45,7 @@
     <xacro:joint_transmission joint="${side}_phalange_joint"/>
   <link name="${side}_pelvis" >
     <inertial>
-      <origin xyz="0 0 ${-1*pelvis_height/2}" />
+      <origin xyz="0 0 0" />
       <mass value="0.2"/>
       <xacro:cuboid_inertia_def x="${pelvis_large}" y="${pelvis_width}" z="${pelvis_height}" mass="0.2"/>
     </inertial>
@@ -84,7 +84,7 @@
 
   <link name="${side}_thigh" >
     <inertial>
-      <origin xyz="0 0 ${-1*thigh_height/2}" />
+      <origin xyz="0 0 0" />
       <mass value="0.25"/>
       <xacro:cuboid_inertia_def x="${thigh_large}" y="${thigh_width}" z="${thigh_height}" mass="0.5"/>
     </inertial>
@@ -104,7 +104,7 @@
 
   <link name="${side}_tibia" >
     <inertial>
-      <origin xyz="0 0 ${-1*tibia_height/2}" />
+      <origin xyz="0 0 0" />
       <mass value="0.2"/>
       <xacro:cuboid_inertia_def x="${tibia_large}" y="${tibia_width}" z="${tibia_height}" mass="0.4"/>
     </inertial>
@@ -124,7 +124,7 @@
 
   <link name="${side}_ankle" >
     <inertial>
-      <origin xyz="0 0 ${-1*ankle_height/2}" />
+      <origin xyz="0 0 0" />
       <mass value="0.2"/>
       <xacro:cuboid_inertia_def x="${ankle_large}" y="${ankle_width}" z="${ankle_height}" mass="0.2"/>
     </inertial>
@@ -150,7 +150,7 @@
 
   <link name="${side}_phalange" >
     <inertial>
-      <origin xyz="0 0 ${-1*phalange_height/2}" />
+      <origin xyz="0 0 0" />
       <mass value="0.07"/>
       <xacro:cuboid_inertia_def x="${phalange_large}" y="${phalange_width}" z="${phalange_height}" mass="0.07"/>
     </inertial>