Use full kinematics parameters in description (#495)

the kinematics parameters can be retrieved from a calibration mechanism
to precisely represent the robot's kinematics.

ur_description/config/ur10/default_kinematics.yaml

@@ -0,0 +1,46 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.1273
+    roll: -0
+    pitch: 0
+    yaw: -0
+  upper_arm:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  forearm:
+    x: -0.612
+    y: 0
+    z: 0
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_1:
+    x: -0.5723
+    y: 0
+    z: 0.163941
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_2:
+    x: 0
+    y: -0.1157
+    z: -2.373046667922381e-11
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  wrist_3:
+    x: 0
+    y: 0.0922
+    z: -1.891053610911353e-11
+    roll: 1.570796326589793
+    pitch: 3.141592653589793
+    yaw: 3.141592653589793
+  hash: calib_17227329492635474227
+
+

ur_description/config/ur10/physical_parameters.yaml

@@ -10,13 +10,13 @@ dh_parameters:
 
 offsets:
   shoulder_offset: 0.220941 # measured from model
-  elbow_offset: -0.1719 # measured from model
-  upper_arm_inertia_offset: 0.045 # measured from model
+  elbow_offset: 0.049042 # measured from model
 
 inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
   shoulder_mass: 7.778
   upper_arm_mass: 12.93
+  upper_arm_inertia_offset: 0.175
   forearm_mass: 3.87
   wrist_1_mass: 1.96
   wrist_2_mass: 1.96
@@ -40,12 +40,13 @@ inertia_parameters:
       length: 0.612
     forearm:
       radius: 0.075
+      length: 0.5723
     wrist_1:
       radius: 0.075
       length: 0.12
     wrist_2:
       radius: 0.075
-      length: 0.12
+      length: 0.09
     wrist_3:
       radius: 0.045
       length: 0.0305
@@ -74,4 +75,4 @@ inertia_parameters:
     wrist_3_cog:
       x: 0.0
       y: -0.001156
-      z: -0.00149
+      z: -0.00149

ur_description/config/ur10/visual_parameters.yaml

@@ -46,6 +46,7 @@ mesh_files:
         color: "0.7 0.7 0.7 1.0"
     collision:
       mesh: "package://ur_description/meshes/ur10/collision/wrist1.stl"
+    visual_offset: -0.1149
 
   wrist_2:
     visual:
@@ -55,6 +56,7 @@ mesh_files:
         color: "0.7 0.7 0.7 1.0"
     collision:
       mesh: "package://ur_description/meshes/ur10/collision/wrist2.stl"
+    visual_offset: -0.1158
 
   wrist_3:
     visual:
@@ -63,4 +65,5 @@ mesh_files:
         name: "LightGrey"
         color: "0.7 0.7 0.7 1.0"
     collision:
-      mesh: "package://ur_description/meshes/ur10/collision/wrist3.stl"
+      mesh: "package://ur_description/meshes/ur10/collision/wrist3.stl"
+    visual_offset: -0.0922

ur_description/config/ur10e/default_kinematics.yaml

@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.1807
+    roll: -0
+    pitch: 0
+    yaw: -0
+  upper_arm:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  forearm:
+    x: -0.6127
+    y: 0
+    z: 0
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_1:
+    x: -0.57155
+    y: 0
+    z: 0.17415
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_2:
+    x: 0
+    y: -0.11985
+    z: -2.458164590756244e-11
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  wrist_3:
+    x: 0
+    y: 0.11655
+    z: -2.390480459346185e-11
+    roll: 1.570796326589793
+    pitch: 3.141592653589793
+    yaw: 3.141592653589793
+  hash: calib_5119701370761913513

ur_description/config/ur10e/physical_parameters.yaml

@@ -9,14 +9,14 @@ dh_parameters:
   d6: 0.117
 
 offsets:
-  shoulder_offset: 0.176 # measured from model
-  elbow_offset: -0.137 # measured from model
-  upper_arm_inertia_offset: 0.0 # measured from model
+  shoulder_offset: 0.1762 # measured from model
+  elbow_offset: 0.0393 # measured from model
 
 inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
   shoulder_mass: 7.778
   upper_arm_mass: 12.93
+  upper_arm_inertia_offset: 0.175 # measured from model
   forearm_mass: 3.87
   wrist_1_mass: 1.96
   wrist_2_mass: 1.96
@@ -40,6 +40,7 @@ inertia_parameters:
       length: 0.612
     forearm:
       radius: 0.075
+      length: 0.57155
     wrist_1:
       radius: 0.075
       length: 0.12
@@ -74,4 +75,4 @@ inertia_parameters:
     wrist_3_cog:
       x: 0.0
       y: -0.001156
-      z: -0.00149
+      z: -0.00149

ur_description/config/ur10e/visual_parameters.yaml

@@ -46,6 +46,7 @@ mesh_files:
         color: "0.7 0.7 0.7 1.0"
     collision:
       mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl"
+    visual_offset: -0.135
 
   wrist_2:
     visual:
@@ -55,6 +56,7 @@ mesh_files:
         color: "0.7 0.7 0.7 1.0"
     collision:
       mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl"
+    visual_offset: -0.12
 
   wrist_3:
     visual:
@@ -63,4 +65,5 @@ mesh_files:
         name: "LightGrey"
         color: "0.7 0.7 0.7 1.0"
     collision:
-      mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl"
+      mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl"
+    visual_offset: -0.1168

ur_description/config/ur3/default_kinematics.yaml

@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.1519
+    roll: -0
+    pitch: 0
+    yaw: -0
+  upper_arm:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  forearm:
+    x: -0.24365
+    y: 0
+    z: 0
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_1:
+    x: -0.21325
+    y: 0
+    z: 0.11235
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_2:
+    x: 0
+    y: -0.08535
+    z: -1.750557762378351e-11
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  wrist_3:
+    x: 0
+    y: 0.0819
+    z: -1.679797079540562e-11
+    roll: 1.570796326589793
+    pitch: 3.141592653589793
+    yaw: 3.141592653589793
+  hash: calib_9122066269688285636

ur_description/config/ur3/physical_parameters.yaml

@@ -10,13 +10,13 @@ dh_parameters:
 
 offsets:
   shoulder_offset: 0.1198 # measured from model
-  elbow_offset: -0.0925 # measured from model
-  upper_arm_inertia_offset: 0.0 # measured from model
+  elbow_offset: 0.0275 # measured from model
 
 inertia_parameters:
   base_mass: 2.0  # This mass might be incorrect
   shoulder_mass: 2.0
   upper_arm_mass: 3.42
+  upper_arm_inertia_offset: 0.12
   forearm_mass: 1.26
   wrist_1_mass: 0.8
   wrist_2_mass: 0.8
@@ -40,12 +40,13 @@ inertia_parameters:
       length: 0.24365
     forearm:
       radius: 0.075
+      length: 0.21325
     wrist_1:
       radius: 0.075
-      length: 0.12
+      length: 0.08535
     wrist_2:
       radius: 0.075
-      length: 0.12
+      length: 0.0819
     wrist_3:
       radius: 0.032
       length: 0.04
@@ -74,4 +75,4 @@ inertia_parameters:
     wrist_3_cog:
       x: 0.0
       y: 0.0
-      z: -0.02
+      z: -0.02

ur_description/config/ur3/visual_parameters.yaml

@@ -44,6 +44,7 @@ mesh_files:
         color: "0.7 0.7 0.7 1.0"
     collision:
       mesh: "package://ur_description/meshes/ur3/collision/wrist1.stl"
+    visual_offset: -0.085
 
   wrist_2:
     visual:
@@ -53,6 +54,7 @@ mesh_files:
         color: "0.7 0.7 0.7 1.0"
     collision:
       mesh: "package://ur_description/meshes/ur3/collision/wrist2.stl"
+    visual_offset: -0.085
 
   wrist_3:
     visual:
@@ -61,4 +63,5 @@ mesh_files:
         name: "LightGrey"
         color: "0.7 0.7 0.7 1.0"
     collision:
-      mesh: "package://ur_description/meshes/ur3/collision/wrist3.stl"
+      mesh: "package://ur_description/meshes/ur3/collision/wrist3.stl"
+    visual_offset: -0.082

ur_description/config/ur3e/default_kinematics.yaml

@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.15185
+    roll: -0
+    pitch: 0
+    yaw: -0
+  upper_arm:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  forearm:
+    x: -0.24355
+    y: 0
+    z: 0
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_1:
+    x: -0.2132
+    y: 0
+    z: 0.13105
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_2:
+    x: 0
+    y: -0.08535
+    z: -1.750557762378351e-11
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  wrist_3:
+    x: 0
+    y: 0.0921
+    z: -1.8890025766262e-11
+    roll: 1.570796326589793
+    pitch: 3.141592653589793
+    yaw: 3.141592653589793
+  hash: calib_16756443741236045476

ur_description/config/ur3e/physical_parameters.yaml

@@ -10,13 +10,13 @@ dh_parameters:
 
 offsets:
   shoulder_offset: 0.120 # measured from model
-  elbow_offset: -0.093 # measured from model
-  upper_arm_inertia_offset: 0.0 # measured from model
+  elbow_offset: 0.027 # measured from model
 
 inertia_parameters:
   base_mass: 2.0  # This mass might be incorrect
   shoulder_mass: 2.0
   upper_arm_mass: 3.42
+  upper_arm_inertia_offset: 0.12 # measured from model
   forearm_mass: 1.26
   wrist_1_mass: 0.8
   wrist_2_mass: 0.8
@@ -40,6 +40,7 @@ inertia_parameters:
       length: 0.24365
     forearm:
       radius: 0.075
+      length: 0.2132
     wrist_1:
       radius: 0.075
       length: 0.12
@@ -74,4 +75,4 @@ inertia_parameters:
     wrist_3_cog:
       x: 0.0
       y: 0.0
-      z: -0.02
+      z: -0.02