From 2d26506c79d9149a8f0460903ef6168e58997c8c Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 4 Sep 2024 16:11:58 +0200
Subject: [PATCH] Fix masses of robot links

I think this goes way back but this should match the actual specifications.
---
 config/ur10/physical_parameters.yaml  | 12 ++++++------
 config/ur10e/physical_parameters.yaml | 12 ++++++------
 config/ur3e/physical_parameters.yaml  | 12 ++++++------
 config/ur5/physical_parameters.yaml   |  2 +-
 config/ur5e/physical_parameters.yaml  | 12 ++++++------
 5 files changed, 25 insertions(+), 25 deletions(-)

diff --git a/config/ur10/physical_parameters.yaml b/config/ur10/physical_parameters.yaml
index e651538..4364a7b 100644
--- a/config/ur10/physical_parameters.yaml
+++ b/config/ur10/physical_parameters.yaml
@@ -14,13 +14,13 @@ offsets:
 
 inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
-  shoulder_mass: 7.778
-  upper_arm_mass: 12.93
+  shoulder_mass: 7.1
+  upper_arm_mass: 12.7
   upper_arm_inertia_offset: 0.175
-  forearm_mass: 3.87
-  wrist_1_mass: 1.96
-  wrist_2_mass: 1.96
-  wrist_3_mass: 0.202
+  forearm_mass: 4.27
+  wrist_1_mass: 2.0
+  wrist_2_mass: 2.0
+  wrist_3_mass: 0.365
 
   shoulder_radius: x0.060   # FROM UR5 DON'T USE
   upper_arm_radius: x0.054  # FROM UR5 DON'T USE
diff --git a/config/ur10e/physical_parameters.yaml b/config/ur10e/physical_parameters.yaml
index e72ee84..34b4e3b 100644
--- a/config/ur10e/physical_parameters.yaml
+++ b/config/ur10e/physical_parameters.yaml
@@ -14,13 +14,13 @@ offsets:
 
 inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
-  shoulder_mass: 7.778
-  upper_arm_mass: 12.93
+  shoulder_mass: 7.369
+  upper_arm_mass: 13.051
   upper_arm_inertia_offset: 0.175 # measured from model
-  forearm_mass: 3.87
-  wrist_1_mass: 1.96
-  wrist_2_mass: 1.96
-  wrist_3_mass: 0.202
+  forearm_mass: 3.989
+  wrist_1_mass: 2.1
+  wrist_2_mass: 1.98
+  wrist_3_mass: 0.615
 
   shoulder_radius: x0.060   # FROM UR5 DON'T USE
   upper_arm_radius: x0.054  # FROM UR5 DON'T USE
diff --git a/config/ur3e/physical_parameters.yaml b/config/ur3e/physical_parameters.yaml
index e7b1d68..a8d0b10 100644
--- a/config/ur3e/physical_parameters.yaml
+++ b/config/ur3e/physical_parameters.yaml
@@ -14,13 +14,13 @@ offsets:
 
 inertia_parameters:
   base_mass: 2.0  # This mass might be incorrect
-  shoulder_mass: 2.0
-  upper_arm_mass: 3.42
+  shoulder_mass: 1.98
+  upper_arm_mass: 3.4445
   upper_arm_inertia_offset: 0.12 # measured from model
-  forearm_mass: 1.26
-  wrist_1_mass: 0.8
-  wrist_2_mass: 0.8
-  wrist_3_mass: 0.35
+  forearm_mass: 1.437
+  wrist_1_mass: 0.871
+  wrist_2_mass: 0.805
+  wrist_3_mass: 0.261
 
   shoulder_radius: 0.060   # manually measured
   upper_arm_radius: 0.054  # manually measured
diff --git a/config/ur5/physical_parameters.yaml b/config/ur5/physical_parameters.yaml
index 9d0a403..07d1ebc 100644
--- a/config/ur5/physical_parameters.yaml
+++ b/config/ur5/physical_parameters.yaml
@@ -17,7 +17,7 @@ inertia_parameters:
   shoulder_mass: 3.7000
   upper_arm_mass: 8.3930
   upper_arm_inertia_offset: 0.136
-  forearm_mass: 2.2750
+  forearm_mass: 2.33
   wrist_1_mass: 1.2190
   wrist_2_mass: 1.2190
   wrist_3_mass: 0.1879
diff --git a/config/ur5e/physical_parameters.yaml b/config/ur5e/physical_parameters.yaml
index f552860..6686a21 100644
--- a/config/ur5e/physical_parameters.yaml
+++ b/config/ur5e/physical_parameters.yaml
@@ -14,13 +14,13 @@ offsets:
 
 inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
-  shoulder_mass: 3.7000
-  upper_arm_mass: 8.3930
+  shoulder_mass: 3.761
+  upper_arm_mass: 8.058
   upper_arm_inertia_offset: 0.138 # measured from model
-  forearm_mass: 2.2750
-  wrist_1_mass: 1.2190
-  wrist_2_mass: 1.2190
-  wrist_3_mass: 0.1879
+  forearm_mass: 2.846
+  wrist_1_mass: 1.37
+  wrist_2_mass: 1.3
+  wrist_3_mass: 0.365
 
   shoulder_radius: 0.060   # manually measured
   upper_arm_radius: 0.054  # manually measured