Remove inertia for caster in webots

Signed-off-by: IDavGal <[email protected]>
Ekumen-OS · Jul 12, 2023 · e79f024 · e79f024
1 parent 2cfcfe8
commit e79f024
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/noah_description/urdf/accurate_noah.urdf.xacro b/noah_description/urdf/accurate_noah.urdf.xacro
@@ -10,7 +10,7 @@
 
 
     <xacro:property name="M_PI" value="3.14159" />
-
+    <xacro:property name="simulator" value="webots"/>
     <!-- Whole accurate_base_link dimensions -->
     <xacro:property name="base_width" value="0.16426" />
     <xacro:property name="base_depth" value="0.19" />

diff --git a/noah_description/urdf/caster_link.urdf.xacro b/noah_description/urdf/caster_link.urdf.xacro
@@ -5,11 +5,12 @@
 
 		<!-- caster description, simple sphere with no friction (ping pong ball) -->
 		<link name="caster_link">
-
-			<inertial>
-				<mass value="0.003" />
-				<inertia ixx="0.000000968" ixy="0" ixz="0" iyy="0.000000968" iyz="0" izz="0.000000968" />
-			</inertial>
+			<xacro:unless value="${simulator == 'webots'}">
+				<inertial>
+					<mass value="0.003" />
+					<inertia ixx="0.000000968" ixy="0" ixz="0" iyy="0.000000968" iyz="0" izz="0.000000968" />
+				</inertial>
+			</xacro:unless>
 
 			<visual>
 				<origin xyz="0 0 0" rpy="0 0 0" />