corrected dimensions and positions of inertias #426
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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.
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miguelprada
approved these changes
Jul 2, 2019
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Not sure how meaningful these changes are, since the UR simulation only exposes a position interface which should mostly disregard the inertial parameters.
This anyways seems somewhat better than before, so I'd vote for a merge so we can move forward to #414, which is actually quite important.
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@miguelprada wrote:
true, but moving to effort controllers is on (my personal) todo/wish-list, so this would be important. |
gavanderhoorn
approved these changes
Jul 2, 2019
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Thanks for the PR @fmauch 👍 |
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I'm by far not an expert in working with gazebo or inertias, but it seemed wrong to me: