Updated UR10e to use updated cog and full inertia matrix

ros-industrial · Jul 7, 2020 · 0cf5a7c · 0cf5a7c
1 parent 4b6490a
commit 0cf5a7c
Showing 1 changed file with 89 additions and 18 deletions.
diff --git a/ur_description/config/ur10e/physical_parameters.yaml b/ur_description/config/ur10e/physical_parameters.yaml
@@ -53,26 +53,97 @@ inertia_parameters:
 
   center_of_mass:
     shoulder_cog:
-      x: 0.0
-      y: 0.00244
-      z: -0.037
+      x: 0.021      # model.x
+      y: -0.027     # -model.z
+      z: 0.0        # model.y
     upper_arm_cog:
-      x: 0.00001
-      y: 0.15061
-      z: 0.38757
+      x: -0.2327    # model.x - upper_arm_length
+      y: 0.0        # model.y
+      z: 0.158      # model.z
     forearm_cog:
-      x: -0.00012
-      y: 0.06112
-      z: 0.1984
+      x: -0.33155   # model.x - forearm_length
+      y: 0.0        # model.y
+      z: 0.068      # model.z
     wrist_1_cog:
-      x: -0.00021
-      y: -0.00112
-      z: 0.02269
+      x: 0.0        # model.x
+      y: -0.018     # -model.z
+      z: 0.007      # model.y
     wrist_2_cog:
-      x: -0.00021
-      y: 0.00112
-      z: 0.002269
+      x: 0.0        # model.x
+      y: 0.018      # model.z
+      z: -0.007     # -model.y
     wrist_3_cog:
-      x: 0.0
-      y: -0.001156
-      z: -0.00149
+      x: 0.0        # model.x
+      y: 0.0        # model.y
+      z: -0.026     # model.z
+
+  rotation:
+    shoulder:
+      roll: 1.570796326794897
+      pitch: 0
+      yaw: 0
+    upper_arm:
+      roll: 0
+      pitch: 0
+      yaw: 0
+    forearm:
+      roll: 0
+      pitch: 0
+      yaw: 0
+    wrist_1:
+      roll: 1.570796326794897
+      pitch: 0
+      yaw: 0
+    wrist_2:
+      roll: -1.570796326794897
+      pitch: 0
+      yaw: 0
+    wrist_3:
+      roll: 0
+      pitch: 0
+      yaw: 0
+
+  # extracted from URSim
+  tensor:
+    shoulder:
+      ixx: 0.03408
+      ixy: 0.00002
+      ixz: -0.00425
+      iyy: 0.03529
+      iyz: 0.00008
+      izz: 0.02156
+    upper_arm:
+      ixx: 0.02814
+      ixy: 0.00005
+      ixz: -0.01561
+      iyy: 0.77068
+      iyz: 0.00002
+      izz: 0.76943
+    forearm:
+      ixx: 0.01014
+      ixy: 0.00008
+      ixz: 0.00916
+      iyy: 0.30928
+      iyz: 0.0
+      izz: 0.30646
+    wrist_1:
+      ixx: 0.00296
+      ixy: -0.00001
+      ixz: 0.0
+      iyy: 0.00222
+      iyz: -0.00024
+      izz: 0.00258
+    wrist_2:
+      ixx: 0.00296
+      ixy: -0.00001
+      ixz: 0.0
+      iyy: 0.00222
+      iyz: -0.00024
+      izz: 0.00258
+    wrist_3:
+      ixx: 0.00040
+      ixy: 0.0
+      ixz: 0.0
+      iyy: 0.00041
+      iyz: 0.0
+      izz: 0.00034