Merge pull request #426 from fmauch/inertia

corrected dimensions and positions of inertias

ur_description/urdf/ur10.urdf.xacro

@@ -60,6 +60,7 @@
     <!-- Arbitrary offsets for shoulder/elbow joints -->
     <xacro:property name="shoulder_offset" value="0.220941" />  <!-- measured from model -->
     <xacro:property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->
+    <xacro:property name="upper_arm_inertia_offset" value="0.045" />  <!-- measured from model -->
 
     <!-- link lengths used in model -->
     <xacro:property name="shoulder_height" value="${d1}" />
@@ -150,7 +151,7 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.075" length="${-a2}" mass="${upper_arm_mass}">
-        <origin xyz="0.0 0.0 ${-a2/2.0}" rpy="0 0 0" />
+        <origin xyz="0.0 ${-upper_arm_inertia_offset} ${-a2/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -216,7 +217,7 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -249,7 +250,7 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -281,8 +282,8 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.045" length="0.0305" mass="${wrist_3_mass}">
+        <origin xyz="0.0 ${wrist_3_length - 0.0305/2} 0.0" rpy="${pi/2} 0 0" />
       </xacro:cylinder_inertial>
     </link>
 

ur_description/urdf/ur3.urdf.xacro

@@ -215,7 +215,7 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -248,7 +248,7 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -280,8 +280,8 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.032" length="0.04" mass="${wrist_3_mass}">
+        <origin xyz="0.0 ${wrist_3_length - 0.02} 0.0" rpy="${pi/2} 0 0" />
       </xacro:cylinder_inertial>
     </link>
 

ur_description/urdf/ur5.urdf.xacro

@@ -198,8 +198,8 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.5" mass="${forearm_mass}">
-        <origin xyz="0.0 0.0 0.25" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.06" length="${-a3}" mass="${forearm_mass}">
+        <origin xyz="0.0 0.0 ${-a3/2}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -231,8 +231,8 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_1_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_1_mass}">
+        <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -264,8 +264,8 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_2_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_2_mass}">
+        <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -297,8 +297,8 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.0375" length="0.0345" mass="${wrist_3_mass}">
+        <origin xyz="0.0 ${wrist_3_length - 0.0345/2} 0.0" rpy="${pi/2} 0 0" />
       </xacro:cylinder_inertial>
     </link>
 

ur_e_description/urdf/ur10e.urdf.xacro

@@ -215,7 +215,7 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -248,7 +248,7 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -280,8 +280,8 @@
           <mesh filename="package://ur_e_description/meshes/ur10e/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.045" length="0.05" mass="${wrist_3_mass}">
+        <origin xyz="0.0 ${wrist_3_length - 0.05/2} 0.0" rpy="${pi/2} 0 0" />
       </xacro:cylinder_inertial>
     </link>
 

ur_e_description/urdf/ur3e.urdf.xacro

@@ -214,7 +214,7 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -279,8 +279,8 @@
           <mesh filename="package://ur_e_description/meshes/ur3e/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.032" length="0.042" mass="${wrist_3_mass}">
+        <origin xyz="0.0 ${wrist_3_length - 0.021} 0.0" rpy="${pi/2} 0 0" />
       </xacro:cylinder_inertial>
     </link>
 

ur_e_description/urdf/ur5e.urdf.xacro

@@ -164,8 +164,8 @@
           <mesh filename="package://ur_e_description/meshes/ur5e/collision/upperarm.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}">
-        <origin xyz="0.0 0.0 0.28" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.06" length="${upper_arm_length}" mass="${upper_arm_mass}">
+        <origin xyz="0.0 0.0 ${upper_arm_length/2}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -197,8 +197,8 @@
           <mesh filename="package://ur_e_description/meshes/ur5e/collision/forearm.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.5" mass="${forearm_mass}">
-        <origin xyz="0.0 0.0 0.25" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.06" length="${forearm_length}" mass="${forearm_mass}">
+        <origin xyz="0.0 0.0 ${forearm_length/2}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -230,8 +230,8 @@
           <mesh filename="package://ur_e_description/meshes/ur5e/collision/wrist1.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_1_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_1_mass}">
+        <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -263,8 +263,8 @@
           <mesh filename="package://ur_e_description/meshes/ur5e/collision/wrist2.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_2_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_2_mass}">
+        <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -296,8 +296,8 @@
           <mesh filename="package://ur_e_description/meshes/ur5e/collision/wrist3.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.0375" length="0.0458" mass="${wrist_3_mass}">
+        <origin xyz="0.0 ${wrist_3_length - 0.0458/2} 0.0" rpy="${pi/2} 0 0" />
       </xacro:cylinder_inertial>
     </link>