From e87be2fbebefa26b0d37409e67f88ee58b4e917b Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 3 Mar 2021 22:04:58 +0100
Subject: [PATCH] Fix ur10_robot
---
robots/ur_description/urdf/ur10_robot.urdf | 24 ++++++++++++++++++++--
1 file changed, 22 insertions(+), 2 deletions(-)
diff --git a/robots/ur_description/urdf/ur10_robot.urdf b/robots/ur_description/urdf/ur10_robot.urdf
index a174c7d..5bc3ff2 100644
--- a/robots/ur_description/urdf/ur10_robot.urdf
+++ b/robots/ur_description/urdf/ur10_robot.urdf
@@ -229,7 +229,13 @@
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
+ <inertial>
+ <mass value="0.0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
</link>
+
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint">
@@ -306,7 +312,14 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- 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="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </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
@@ -317,7 +330,14 @@
<child link="base"/>
</joint>
<!-- 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="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0922 0"/>
<parent link="wrist_3_link"/>
--
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