From 8f827358e54bf0518893169700ce9ef2c63942bc Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 5 Mar 2021 23:41:13 +0100
Subject: [PATCH] ur5 &_ur5_gripper: set default link mass to 0
---
robots/ur_description/urdf/ur5_gripper.urdf | 20 ++++++++++++++++--
robots/ur_description/urdf/ur5_robot.urdf | 23 ++++++++++++++++++---
2 files changed, 38 insertions(+), 5 deletions(-)
diff --git a/robots/ur_description/urdf/ur5_gripper.urdf b/robots/ur_description/urdf/ur5_gripper.urdf
index eaf5b05..45f2901 100644
--- a/robots/ur_description/urdf/ur5_gripper.urdf
+++ b/robots/ur_description/urdf/ur5_gripper.urdf
@@ -17,7 +17,7 @@
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
- <fullChargeCapacity>87.78</fullChargeCapacity>
+ <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
@@ -256,6 +256,11 @@
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="ee_link">
+ <inertial>
+ <mass value="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>
<geometry>
<box size="0.01 0.01 0.01"/>
@@ -319,7 +324,13 @@
</transmission>
<!-- nothing to do here at the moment -->
<!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="base"/>
+ <link name="base">
+ <inertial>
+ <mass value="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">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
@@ -331,6 +342,11 @@
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="tool0">
+ <inertial>
+ <mass value="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>
<geometry>
<box size="0.005 0.02 0.05" />
diff --git a/robots/ur_description/urdf/ur5_robot.urdf b/robots/ur_description/urdf/ur5_robot.urdf
index cce6b6a..49d6cc5 100644
--- a/robots/ur_description/urdf/ur5_robot.urdf
+++ b/robots/ur_description/urdf/ur5_robot.urdf
@@ -16,7 +16,7 @@
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
- <fullChargeCapacity>87.78</fullChargeCapacity>
+ <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
@@ -232,6 +232,11 @@
<origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="ee_link">
+ <inertial>
+ <mass value="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>
<geometry>
<box size="0.01 0.01 0.01"/>
@@ -315,7 +320,13 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="base"/>
+ <link name="base">
+ <inertial>
+ <mass value="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">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
@@ -326,7 +337,13 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
- <link name="tool0"/>
+ <link name="tool0">
+ <inertial>
+ <mass value="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">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
<parent link="wrist_3_link"/>
--
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