From f915ea1ff879b62a3877354b150b0e6df2bac042 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Tue, 25 Oct 2016 13:04:16 +0200
Subject: [PATCH] Temporaly fixed arm dynamics
---
talos_description/robots/talos_full.urdf.xacro | 4 ++--
talos_description/urdf/arm/arm.urdf.xacro | 12 ++++++++----
talos_description/urdf/arm/wrist.urdf.xacro | 17 +++++++++++++++--
.../urdf/gripper/gripper_v2.urdf.xacro | 4 ++--
4 files changed, 27 insertions(+), 10 deletions(-)
diff --git a/talos_description/robots/talos_full.urdf.xacro b/talos_description/robots/talos_full.urdf.xacro
index eeef7f0..1256b2c 100644
--- a/talos_description/robots/talos_full.urdf.xacro
+++ b/talos_description/robots/talos_full.urdf.xacro
@@ -30,8 +30,8 @@
<xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
<xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
- <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link"/>
- <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link"/>
+ <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
+ <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
<xacro:talos_leg prefix="left" reflect="1" />
<xacro:talos_leg prefix="right" reflect="-1" />
diff --git a/talos_description/urdf/arm/arm.urdf.xacro b/talos_description/urdf/arm/arm.urdf.xacro
index 6ef2b85..80e1ff6 100644
--- a/talos_description/urdf/arm/arm.urdf.xacro
+++ b/talos_description/urdf/arm/arm.urdf.xacro
@@ -38,7 +38,8 @@
<!-- TODO: Missing reflects of inertias -->
<inertial>
<origin xyz="-0.01346 ${reflect*0.09130} 0.04812" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.52896"/>
+ <!-- <mass value="1.52896"/> -->
+ <mass value="1.42896"/>
<inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000"
iyy="0.00167300000" iyz="-0.00006000000"
izz="0.00582200000"/>
@@ -81,7 +82,8 @@
<link name="${name}_${side}_2_link">
<inertial>
<origin xyz="0.02607 0.00049 -0.05209" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.77729"/>
+ <!-- <mass value="1.77729"/> -->
+ <mass value="1.67729"/>
<inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000"
iyy="0.00793600000" iyz="0.00003000000"
izz="0.00378800000"/>
@@ -125,7 +127,8 @@
<link name="${name}_${side}_3_link">
<inertial>
<origin xyz="0.00841 0.01428 -0.22291" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.57029"/>
+ <!-- <mass value="1.57029"/> -->
+ <mass value="1.47029"/>
<inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000"
iyy="0.00434000000" iyz="-0.00060900000"
izz="0.00254300000"/>
@@ -167,7 +170,8 @@
<link name="${name}_${side}_4_link">
<inertial>
<origin xyz="-0.00655 -0.02107 -0.02612" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.20216"/>
+ <!-- <mass value="1.20216"/> -->
+ <mass value="1.10216"/>
<inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000"
iyy="0.00241800000" iyz="-0.00039300000"
izz="0.00111500000"/>
diff --git a/talos_description/urdf/arm/wrist.urdf.xacro b/talos_description/urdf/arm/wrist.urdf.xacro
index efa3435..62da602 100644
--- a/talos_description/urdf/arm/wrist.urdf.xacro
+++ b/talos_description/urdf/arm/wrist.urdf.xacro
@@ -34,7 +34,8 @@
<link name="${name}_${side}_5_link">
<inertial>
<origin xyz="-0.00006 0.00326 0.07963" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.87792"/>
+ <!-- <mass value="1.87792"/> -->
+ <mass value="1.77792"/>
<inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000"
iyy="0.00436800000" iyz="0.00009700000"
izz="0.00228300000"/>
@@ -79,7 +80,8 @@
<link name="${name}_${side}_6_link">
<inertial>
<origin xyz="0.00002 -0.00197 -0.00059" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.40931"/>
+ <!-- <mass value="0.40931"/> -->
+ <mass value="0.30931"/>
<inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000"
iyy="0.00014100000" iyz="-0.00000000000"
izz="0.00015400000"/>
@@ -116,6 +118,8 @@
</joint>
<link name="${name}_${side}_7_link">
+
+ <!-- WRONG VALUES
<inertial>
<origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.02604"/>
@@ -123,6 +127,15 @@
iyy="0.00146400000" iyz="0.00001200000"
izz="0.00090300000"/>
</inertial>
+ -->
+
+ <inertial>
+ <origin xyz="0.007525 0.001378 -0.024630" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="0.308441"/>
+ <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002"
+ iyy="0.000219" iyz="0.000012"
+ izz="0.000176"/>
+ </inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
diff --git a/talos_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
index 8342e12..391e8dd 100644
--- a/talos_description/urdf/gripper/gripper_v2.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
@@ -8,7 +8,7 @@
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.gazebo.xacro" />
- <xacro:macro name="talos_gripper" params="name parent">
+ <xacro:macro name="talos_gripper" params="name parent reflect">
<link name="${name}_base_link">
<inertial>
@@ -39,7 +39,7 @@
<parent link="${parent}"/>
<child link="${name}_base_link"/>
<origin xyz="0.00000 0.00000 -0.02875"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${90.00000 * deg_to_rad}"/>
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${(reflect -1)* 90.000000 * deg_to_rad}"/>
<axis xyz="0 0 0" />
</joint>
--
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