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[robot]: use default inertia/mass of zero for links without mass #164

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Jan 20, 2022
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[robot]: use default inertia/mass of zero for links without mass #164

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7 changes: 7 additions & 0 deletions src/robot_dart/robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1927,7 +1927,14 @@ namespace robot_dart {
boost::filesystem::path path(model_file);
std::string extension = path.extension().string();
if (extension == ".urdf") {
#if DART_VERSION_AT_LEAST(6, 12, 0)
dart::io::DartLoader::Options options;
// if links have no inertia, we put ~zero mass and very very small inertia
options.mDefaultInertia = dart::dynamics::Inertia(1e-10, Eigen::Vector3d::Zero(), Eigen::Matrix3d::Identity() * 1e-12);
dart::io::DartLoader loader(options);
#else
dart::io::DartLoader loader;
#endif
for (size_t i = 0; i < packages.size(); i++) {
std::string package = std::get<1>(packages[i]);
std::string package_path = _get_path(package);
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