Commit 36ff7d37 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

ur_description: fix inertia in ur3 & ur10

parent 2abddbc5
...@@ -16,7 +16,7 @@ ...@@ -16,7 +16,7 @@
<timeout>5</timeout> <timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic> <powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate> <powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity> <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate> <dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate> <chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage> <dischargeVoltage>15.52</dischargeVoltage>
...@@ -223,6 +223,11 @@ ...@@ -223,6 +223,11 @@
<origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0922 0.0"/> <origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0922 0.0"/>
</joint> </joint>
<link name="ee_link"> <link name="ee_link">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<collision> <collision>
<geometry> <geometry>
<box size="0.01 0.01 0.01"/> <box size="0.01 0.01 0.01"/>
...@@ -306,7 +311,13 @@ ...@@ -306,7 +311,13 @@
<selfCollide>true</selfCollide> <selfCollide>true</selfCollide>
</gazebo> </gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform --> <!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/> <link name="base">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="base_link-base_fixed_joint" type="fixed"> <joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is <!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180 not corrected wrt the real robot (ie: rotated over 180
...@@ -317,7 +328,13 @@ ...@@ -317,7 +328,13 @@
<child link="base"/> <child link="base"/>
</joint> </joint>
<!-- Frame coincident with all-zeros TCP on UR controller --> <!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0"/> <link name="tool0">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed"> <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0922 0"/> <origin rpy="-1.57079632679 0 0" xyz="0 0.0922 0"/>
<parent link="wrist_3_link"/> <parent link="wrist_3_link"/>
...@@ -330,4 +347,3 @@ ...@@ -330,4 +347,3 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint> </joint>
</robot> </robot>
...@@ -17,7 +17,7 @@ ...@@ -17,7 +17,7 @@
<timeout>5</timeout> <timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic> <powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate> <powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity> <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate> <dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate> <chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage> <dischargeVoltage>15.52</dischargeVoltage>
...@@ -236,6 +236,11 @@ ...@@ -236,6 +236,11 @@
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0819 0.0"/> <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0819 0.0"/>
</joint> </joint>
<link name="ee_link"> <link name="ee_link">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<collision> <collision>
<geometry> <geometry>
<box size="0.01 0.01 0.01"/> <box size="0.01 0.01 0.01"/>
...@@ -299,7 +304,13 @@ ...@@ -299,7 +304,13 @@
</transmission> </transmission>
<!-- nothing to do here at the moment --> <!-- nothing to do here at the moment -->
<!-- ROS base_link to UR 'Base' Coordinates transform --> <!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="base"/> <link name="base">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
</link>
<joint name="base_link-base_fixed_joint" type="fixed"> <joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is <!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180 not corrected wrt the real robot (ie: rotated over 180
...@@ -311,6 +322,11 @@ ...@@ -311,6 +322,11 @@
</joint> </joint>
<!-- Frame coincident with all-zeros TCP on UR controller --> <!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0"> <link name="tool0">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual> <visual>
<geometry> <geometry>
<box size="0.005 0.02 0.05" /> <box size="0.005 0.02 0.05" />
......
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