From 5a09056016625bcda84ee30042cb40fed252ee91 Mon Sep 17 00:00:00 2001
From: Wim Meeussen <wim@willowgarage.com>
Date: Wed, 21 Mar 2012 16:00:41 -0700
Subject: [PATCH] no more magic numbers
---
.../urdf/robot.urdf.xacro | 17 +++++++++--------
1 file changed, 9 insertions(+), 8 deletions(-)
diff --git a/universal_robot_description/urdf/robot.urdf.xacro b/universal_robot_description/urdf/robot.urdf.xacro
index 9402621..3d0932f 100644
--- a/universal_robot_description/urdf/robot.urdf.xacro
+++ b/universal_robot_description/urdf/robot.urdf.xacro
@@ -13,6 +13,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<property name="pi" value="3.14159265" />
+ <property name="base_mass" value="10.0" /> <!-- not form spec -->
<property name="shoulder_mass" value="3.7000" />
<property name="upper_arm_mass" value="8.3930" />
<property name="forearm_mass" value="2.2750" />
@@ -27,7 +28,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<property name="wrist_2_cog" value="0.0 0.0018 0.11099" /> <!-- 0.01634 + 0.09465 = 0.11099-->
<property name="wrist_3_cog" value="0.0 0.001159 0.0" />
- <property name="shoulder_height" value="0.1" />
+ <property name="shoulder_height" value="0.1" /> <!-- not form spec -->
<property name="shoulder_offset" value="0.089159" />
<property name="upper_arm_length" value="0.42500" />
<property name="forearm_length" value="0.39225" />
@@ -35,14 +36,14 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<property name="wrist_2_length" value="0.09465" />
<property name="wrist_3_length" value="0.0823" />
- <property name="shoulder_radius" value="0.1" />
- <property name="upper_arm_radius" value="0.05" />
- <property name="forearm_radius" value="0.03" />
- <property name="wrist_radius" value="0.03" />
+ <property name="shoulder_radius" value="0.1" /> <!-- not form spec -->
+ <property name="upper_arm_radius" value="0.05" /> <!-- not form spec -->
+ <property name="forearm_radius" value="0.03" /> <!-- not form spec -->
+ <property name="wrist_radius" value="0.03" /> <!-- not form spec -->
<link name="base_link" >
<inertial>
- <mass value="10" />
+ <mass value="${base_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
@@ -230,13 +231,13 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="ee_link">
<visual>
<geometry>
- <cylinder length="0.01" radius="0.06"/>
+ <cylinder length="0.01" radius="${wrist_radius * 1.25}"/>
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
</visual>
<collision>
<geometry>
- <cylinder length="0.01" radius="0.06"/>
+ <cylinder length="0.01" radius="${wrist_radius * 1.25}"/>
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
</collision>
--
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