why is a welded body throwing an exception re: inertia

RobotLocomotion · Mar 6, 2024 · 9d0741a · 9d0741a
1 parent 2dc0143
commit 9d0741a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/bindings/pydrake/visualization/_model_visualizer.py b/bindings/pydrake/visualization/_model_visualizer.py
@@ -294,7 +294,7 @@ def Finalize(self, position=None):
             sensor_body = self._builder.plant().AddRigidBody(
                 name="$rgbd_sensor_body",
                 model_instance=default_model_instance(),
-                M_BBo_B=SpatialInertia())
+                M_BBo_B=SpatialInertia.SolidCubeWithDensity(0.001, 0.001))
             self._builder.plant().WeldFrames(
                 frame_on_parent_F=sensor_offset_frame,
                 frame_on_child_M=sensor_body.body_frame())