Temporaly fixed arm dynamics

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" />

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"/>

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" />

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>