Commit 62011b0d authored by Felix Mauch's avatar Felix Mauch
Browse files

corrected dimensions and positions of inertias

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.
parent 43f3f26c
......@@ -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>
......
......@@ -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>
......
......@@ -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>
......
......@@ -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>
......
......@@ -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>
......
......@@ -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>
......
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