{"action":"created","issue":{"url":"https://api.github.com/repos/stack-of-tasks/pinocchio/issues/60","labels_url":"https://api.github.com/repos/stack-of-tasks/pinocchio/issues/60/labels{/name}","comments_url":"https://api.github.com/repos/stack-of-tasks/pinocchio/issues/60/comments","events_url":"https://api.github.com/repos/stack-of-tasks/pinocchio/issues/60/events","html_url":"https://github.com/stack-of-tasks/pinocchio/pull/60","id":116522228,"number":60,"title":"Fix URDF inertia parser","user":{"login":"aelkhour","id":436644,"avatar_url":"https://avatars.githubusercontent.com/u/436644?v=3","gravatar_id":"","url":"https://api.github.com/users/aelkhour","html_url":"https://github.com/aelkhour","followers_url":"https://api.github.com/users/aelkhour/followers","following_url":"https://api.github.com/users/aelkhour/following{/other_user}","gists_url":"https://api.github.com/users/aelkhour/gists{/gist_id}","starred_url":"https://api.github.com/users/aelkhour/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/aelkhour/subscriptions","organizations_url":"https://api.github.com/users/aelkhour/orgs","repos_url":"https://api.github.com/users/aelkhour/repos","events_url":"https://api.github.com/users/aelkhour/events{/privacy}","received_events_url":"https://api.github.com/users/aelkhour/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2015-11-12T10:33:56Z","updated_at":"2015-11-18T16:23:54Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/stack-of-tasks/pinocchio/pulls/60","html_url":"https://github.com/stack-of-tasks/pinocchio/pull/60","diff_url":"https://github.com/stack-of-tasks/pinocchio/pull/60.diff","patch_url":"https://github.com/stack-of-tasks/pinocchio/pull/60.patch"},"body":"If a URDF link has no inertia tag, the spatial inertia is currently set to se3::spatial::Inertia::Identity(); the link mass is thus set to 1 kg and the inertia to the identity 3x3 matrix.\r\n\r\nThis PR fixes this issue by setting the spatial inertia to se3::spatial::Zero() instead."},"comment":{"url":"https://api.github.com/repos/stack-of-tasks/pinocchio/issues/comments/157767052","html_url":"https://github.com/stack-of-tasks/pinocchio/pull/60#issuecomment-157767052","issue_url":"https://api.github.com/repos/stack-of-tasks/pinocchio/issues/60","id":157767052,"user":{"login":"jcarpent","id":1567317,"avatar_url":"https://avatars.githubusercontent.com/u/1567317?v=3","gravatar_id":"","url":"https://api.github.com/users/jcarpent","html_url":"https://github.com/jcarpent","followers_url":"https://api.github.com/users/jcarpent/followers","following_url":"https://api.github.com/users/jcarpent/following{/other_user}","gists_url":"https://api.github.com/users/jcarpent/gists{/gist_id}","starred_url":"https://api.github.com/users/jcarpent/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jcarpent/subscriptions","organizations_url":"https://api.github.com/users/jcarpent/orgs","repos_url":"https://api.github.com/users/jcarpent/repos","events_url":"https://api.github.com/users/jcarpent/events{/privacy}","received_events_url":"https://api.github.com/users/jcarpent/received_events","type":"User","site_admin":false},"created_at":"2015-11-18T16:23:54Z","updated_at":"2015-11-18T16:23:54Z","body":"Sorry for being unclear. The idea is to set to NAN the default inertia in the parser, not in the URDF model."}}