From 0cf5a7c04d76b5ac62ce5d42bf906e4c60e7d0db Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 7 Jul 2020 14:29:09 +0200 Subject: [PATCH] Updated UR10e to use updated cog and full inertia matrix --- .../config/ur10e/physical_parameters.yaml | 107 +++++++++++++++--- 1 file changed, 89 insertions(+), 18 deletions(-) diff --git a/ur_description/config/ur10e/physical_parameters.yaml b/ur_description/config/ur10e/physical_parameters.yaml index ffae062fd..4711a762e 100644 --- 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