Mass of fixed links which are not attached via joints ignored

ipab-slmc / exotica

Extensible Optimization Framework

https://ipab-slmc.github.io/exotica

BSD 3-Clause "New" or "Revised" License

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Mass of fixed links which are not attached via joints ignored #676

Open wxmerkt opened 4 years ago

wxmerkt commented 4 years ago

Similar to #134:

The ANYmal model uses a custom inertial_link with a fixed joint to the base_link for the base's mass and inertia. This is disregarded in the KinematicTree.