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  • Felix Mauch's avatar
    corrected dimensions and positions of inertias · 62011b0d
    Felix Mauch authored
    I'm by far not an expert in working with gazebo or inertias, but it seemed wrong to me:
    
    - The upper arm inertia of the ur10 is not centered in the visual arm segment
    - CoM in the wrist links don't sit inside the correct links. E.g. wrist1 has its CoM inside the end of the forearm for all robots.
    - Because of the second point the inertia's geometry of wrist3 is matching wrist2 instead of the actual moving part of wrist3.
    - Wrist dimensions of ur5 were completely off.
    - On the ur5e the arm inertias weren't centered in the visuals.
    62011b0d