Mass of UR5e are incorrect - Githubissues

UniversalRobots / Universal_Robots_ROS2_Description

ROS2 URDF description for Universal Robots

BSD 3-Clause "New" or "Revised" License

137 stars 116 forks source link

Mass of UR5e are incorrect #186

Closed olufskovnielsen closed 2 months ago

olufskovnielsen commented 3 months ago

Masses of UR5e are incorrect https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/rolling/config/ur5e/physical_parameters.yaml They should be based on this https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics The current values are copied from UR5 CB3

fmauch commented 2 months ago

It looks like you are absolutely correct! Thanks for pointing that out.

Just for reference: This needs to be fixed for ROS 1, as well.