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Fix masses of robot links #187

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Sep 6, 2024
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12 changes: 6 additions & 6 deletions config/ur10/physical_parameters.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -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
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12 changes: 6 additions & 6 deletions config/ur10e/physical_parameters.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -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
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12 changes: 6 additions & 6 deletions config/ur3e/physical_parameters.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -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
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2 changes: 1 addition & 1 deletion config/ur5/physical_parameters.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -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
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12 changes: 6 additions & 6 deletions config/ur5e/physical_parameters.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
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