Remove code and values that are no longer needed.

UniversalRobots · Sep 20, 2024 · e9efbdd · e9efbdd
1 parent ac08c46
commit e9efbdd
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diff --git a/config/ur10/physical_parameters.yaml b/config/ur10/physical_parameters.yaml
@@ -8,7 +8,6 @@ inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
   shoulder_mass: 7.1
   upper_arm_mass: 12.7
-  upper_arm_inertia_offset: 0.175
   forearm_mass: 4.27
   wrist_1_mass: 2.0
   wrist_2_mass: 2.0
@@ -24,24 +23,6 @@ inertia_parameters:
     base:
       radius: 0.075
       length: 0.038
-    shoulder:
-      radius: 0.075
-      length: 0.178
-    upperarm:
-      radius: 0.075
-      length: 0.612
-    forearm:
-      radius: 0.075
-      length: 0.5723
-    wrist_1:
-      radius: 0.075
-      length: 0.12
-    wrist_2:
-      radius: 0.075
-      length: 0.09
-    wrist_3:
-      radius: 0.045
-      length: 0.0305
 
   center_of_mass:
     shoulder_cog:

diff --git a/config/ur10e/physical_parameters.yaml b/config/ur10e/physical_parameters.yaml
@@ -8,7 +8,6 @@ inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
   shoulder_mass: 7.369
   upper_arm_mass: 13.051
-  upper_arm_inertia_offset: 0.175 # measured from model
   forearm_mass: 3.989
   wrist_1_mass: 2.1
   wrist_2_mass: 1.98
@@ -24,24 +23,6 @@ inertia_parameters:
     base:
       radius: 0.075
       length: 0.038
-    shoulder:
-      radius: 0.075
-      length: 0.178
-    upperarm:
-      radius: 0.075
-      length: 0.612
-    forearm:
-      radius: 0.075
-      length: 0.57155
-    wrist_1:
-      radius: 0.075
-      length: 0.12
-    wrist_2:
-      radius: 0.075
-      length: 0.12
-    wrist_3:
-      radius: 0.045
-      length: 0.05
 
   # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
   center_of_mass:

diff --git a/config/ur16e/physical_parameters.yaml b/config/ur16e/physical_parameters.yaml
@@ -9,7 +9,6 @@ inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
   shoulder_mass: 7.369
   upper_arm_mass: 10.450
-  upper_arm_inertia_offset: 0.175 # measured from model
   forearm_mass: 4.321
   wrist_1_mass: 2.180
   wrist_2_mass: 2.033
@@ -25,24 +24,6 @@ inertia_parameters:
     base:
       radius: 0.075
       length: 0.038
-    shoulder:
-      radius: 0.075
-      length: 0.178
-    upperarm:
-      radius: 0.075
-      length: 0.4784
-    forearm:
-      radius: 0.075
-      length: 0.36
-    wrist_1:
-      radius: 0.075
-      length: 0.12
-    wrist_2:
-      radius: 0.075
-      length: 0.12
-    wrist_3:
-      radius: 0.045
-      length: 0.05
 
   # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
   center_of_mass:

diff --git a/config/ur20/physical_parameters.yaml b/config/ur20/physical_parameters.yaml
@@ -9,7 +9,6 @@ inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
   shoulder_mass: 16.343
   upper_arm_mass: 29.632
-  upper_arm_inertia_offset: 0.275 # measured from model
   forearm_mass: 7.879
   wrist_1_mass: 3.054
   wrist_2_mass: 3.126
@@ -25,24 +24,6 @@ inertia_parameters:
     base:
       radius: 0.075
       length: 0.038
-    shoulder:
-      radius: 0.075
-      length: 0.178
-    upperarm:
-      radius: 0.075
-      length: 0.852
-    forearm:
-      radius: 0.075
-      length: 0.7287
-    wrist_1:
-      radius: 0.075
-      length: 0.12
-    wrist_2:
-      radius: 0.075
-      length: 0.12
-    wrist_3:
-      radius: 0.045
-      length: 0.05
 
   center_of_mass:
     shoulder_cog:

diff --git a/config/ur3/physical_parameters.yaml b/config/ur3/physical_parameters.yaml
@@ -8,7 +8,6 @@ inertia_parameters:
   base_mass: 2.0  # This mass might be incorrect
   shoulder_mass: 2.0
   upper_arm_mass: 3.42
-  upper_arm_inertia_offset: 0.12
   forearm_mass: 1.26
   wrist_1_mass: 0.8
   wrist_2_mass: 0.8
@@ -24,24 +23,6 @@ inertia_parameters:
     base:
       radius: 0.075
       length: 0.038
-    shoulder:
-      radius: 0.075
-      length: 0.178
-    upperarm:
-      radius: 0.075
-      length: 0.24365
-    forearm:
-      radius: 0.075
-      length: 0.21325
-    wrist_1:
-      radius: 0.075
-      length: 0.08535
-    wrist_2:
-      radius: 0.075
-      length: 0.0819
-    wrist_3:
-      radius: 0.032
-      length: 0.04
 
   # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
   center_of_mass:

diff --git a/config/ur30/physical_parameters.yaml b/config/ur30/physical_parameters.yaml
@@ -9,7 +9,6 @@ inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
   shoulder_mass: 16.343
   upper_arm_mass: 28.542
-  upper_arm_inertia_offset: 0.275 # measured from model
   forearm_mass: 7.156
   wrist_1_mass: 3.054
   wrist_2_mass: 3.126
@@ -25,24 +24,6 @@ inertia_parameters:
     base:
       radius: 0.075
       length: 0.038
-    shoulder:
-      radius: 0.075
-      length: 0.178
-    upperarm:
-      radius: 0.075
-      length: 0.637
-    forearm:
-      radius: 0.075
-      length: 0.5037
-    wrist_1:
-      radius: 0.075
-      length: 0.12
-    wrist_2:
-      radius: 0.075
-      length: 0.12
-    wrist_3:
-      radius: 0.045
-      length: 0.05
 
   center_of_mass:
     shoulder_cog:

diff --git a/config/ur3e/physical_parameters.yaml b/config/ur3e/physical_parameters.yaml
@@ -8,7 +8,6 @@ inertia_parameters:
   base_mass: 2.0  # This mass might be incorrect
   shoulder_mass: 1.98
   upper_arm_mass: 3.4445
-  upper_arm_inertia_offset: 0.12 # measured from model
   forearm_mass: 1.437
   wrist_1_mass: 0.871
   wrist_2_mass: 0.805
@@ -24,24 +23,6 @@ inertia_parameters:
     base:
       radius: 0.075
       length: 0.038
-    shoulder:
-      radius: 0.075
-      length: 0.178
-    upperarm:
-      radius: 0.075
-      length: 0.24365
-    forearm:
-      radius: 0.075
-      length: 0.2132
-    wrist_1:
-      radius: 0.075
-      length: 0.12
-    wrist_2:
-      radius: 0.075
-      length: 0.12
-    wrist_3:
-      radius: 0.032
-      length: 0.04
 
   # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
   center_of_mass:

diff --git a/config/ur5/physical_parameters.yaml b/config/ur5/physical_parameters.yaml
@@ -8,7 +8,6 @@ inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
   shoulder_mass: 3.7000
   upper_arm_mass: 8.3930
-  upper_arm_inertia_offset: 0.136
   forearm_mass: 2.33
   wrist_1_mass: 1.2190
   wrist_2_mass: 1.2190
@@ -24,33 +23,6 @@ inertia_parameters:
     base:
       radius: 0.06
       length: 0.05
-    shoulder:
-      radius: 0.075
-      length: 0.178
-    upperarm:
-      radius: 0.06
-      length: 0.425
-    forearm:
-      radius: 0.06
-      length: 0.39225
-    wrist_1:
-      radius: 0.06
-      length: 0.12
-    wrist_2:
-      radius: 0.06
-      length: 0.12
-    wrist_3:
-      radius: 0.0375
-      length: 0.0345
-    wrist_1:
-      radius: 0.06
-      length: 0.095
-    wrist_2:
-      radius: 0.06
-      length: 0.085
-    wrist_3:
-      radius: 0.0375
-      length: 0.0305
 
   # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
   center_of_mass:

diff --git a/config/ur5e/physical_parameters.yaml b/config/ur5e/physical_parameters.yaml
@@ -8,7 +8,6 @@ inertia_parameters:
   base_mass: 4.0  # This mass might be incorrect
   shoulder_mass: 3.761
   upper_arm_mass: 8.058
-  upper_arm_inertia_offset: 0.138 # measured from model
   forearm_mass: 2.846
   wrist_1_mass: 1.37
   wrist_2_mass: 1.3
@@ -24,24 +23,6 @@ inertia_parameters:
     base:
       radius: 0.06
       length: 0.05
-    shoulder:
-      radius: 0.06
-      length: 0.15
-    upperarm:
-      radius: 0.06
-      length: 0.425
-    forearm:
-      radius: 0.06
-      length: 0.3922
-    wrist_1:
-      radius: 0.06
-      length: 0.12
-    wrist_2:
-      radius: 0.06
-      length: 0.12
-    wrist_3:
-      radius: 0.0375
-      length: 0.0458
 
   # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
   center_of_mass:

diff --git a/urdf/inc/ur_common.xacro b/urdf/inc/ur_common.xacro
@@ -135,7 +135,6 @@
     <xacro:property name="base_mass" value="${sec_inertia_parameters['base_mass']}" scope="parent"/>
     <xacro:property name="shoulder_mass" value="${sec_inertia_parameters['shoulder_mass']}" scope="parent"/>
     <xacro:property name="upper_arm_mass" value="${sec_inertia_parameters['upper_arm_mass']}" scope="parent"/>
-    <xacro:property name="upper_arm_inertia_offset" value="${sec_inertia_parameters['upper_arm_inertia_offset']}" scope="parent"/>
     <xacro:property name="forearm_mass" value="${sec_inertia_parameters['forearm_mass']}" scope="parent"/>
     <xacro:property name="wrist_1_mass" value="${sec_inertia_parameters['wrist_1_mass']}" scope="parent"/>
     <xacro:property name="wrist_2_mass" value="${sec_inertia_parameters['wrist_2_mass']}" scope="parent"/>
@@ -144,18 +143,6 @@
     <xacro:property name="intertia_links" value="${sec_inertia_parameters['links']}" scope="parent"/>
     <xacro:property name="base_inertia_radius" value="${intertia_links['base']['radius']}" scope="parent"/>
     <xacro:property name="base_inertia_length" value="${intertia_links['base']['length']}" scope="parent"/>
-    <xacro:property name="shoulder_inertia_radius" value="${intertia_links['shoulder']['radius']}" scope="parent"/>
-    <xacro:property name="shoulder_inertia_length" value="${intertia_links['shoulder']['length']}" scope="parent"/>
-    <xacro:property name="upperarm_inertia_radius" value="${intertia_links['upperarm']['radius']}" scope="parent"/>
-    <xacro:property name="upperarm_inertia_length" value="${intertia_links['upperarm']['length']}" scope="parent"/>
-    <xacro:property name="forearm_inertia_radius" value="${intertia_links['forearm']['radius']}" scope="parent"/>
-    <xacro:property name="forearm_inertia_length" value="${intertia_links['forearm']['length']}" scope="parent"/>
-    <xacro:property name="wrist_1_inertia_radius" value="${intertia_links['wrist_1']['radius']}" scope="parent"/>
-    <xacro:property name="wrist_1_inertia_length" value="${intertia_links['wrist_1']['length']}" scope="parent"/>
-    <xacro:property name="wrist_2_inertia_radius" value="${intertia_links['wrist_2']['radius']}" scope="parent"/>
-    <xacro:property name="wrist_2_inertia_length" value="${intertia_links['wrist_2']['length']}" scope="parent"/>
-    <xacro:property name="wrist_3_inertia_radius" value="${intertia_links['wrist_3']['radius']}" scope="parent"/>
-    <xacro:property name="wrist_3_inertia_length" value="${intertia_links['wrist_3']['length']}" scope="parent"/>
 
     <!-- center of mass -->
     <xacro:property name="prop_shoulder_cog" value="${sec_inertia_parameters['center_of_mass']['shoulder_cog']}" scope="parent"/>