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[BREAKING] changes for Kilted (#280)
* Remove unused radius values in physical parameters * Move all mesh offsets to visual parameters * Remove all materials from visual parameters. They aren't used anyway. * Add migration notes for kilted
1 parent efb0bc8 commit 5ff30bb

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+623
-359
lines changed

‎config/ur10/physical_parameters.yaml‎

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Original file line numberDiff line numberDiff line change
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# Physical parameters
22

3-
offsets:
4-
shoulder_offset: 0.220941 # measured from model
5-
elbow_offset: 0.049042 # measured from model
63

74
inertia_parameters:
85
base_mass: 4.0 # This mass might be incorrect
@@ -13,12 +10,6 @@ inertia_parameters:
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wrist_2_mass: 2.0
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wrist_3_mass: 0.365
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16-
shoulder_radius: x0.060 # FROM UR5 DON'T USE
17-
upper_arm_radius: x0.054 # FROM UR5 DON'T USE
18-
elbow_radius: x0.060 # FROM UR5 DON'T USE
19-
forearm_radius: x0.040 # FROM UR5 DON'T USE
20-
wrist_radius: x0.045 # FROM UR5 DON'T USE
21-
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links:
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base:
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radius: 0.075

‎config/ur10/visual_parameters.yaml‎

Lines changed: 49 additions & 25 deletions
Original file line numberDiff line numberDiff line change
@@ -6,92 +6,116 @@ mesh_files:
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mesh:
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package: ur_description
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path: meshes/ur10/visual/base.dae
9-
material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
1310
mesh:
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package: ur_description
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path: meshes/ur10/collision/base.stl
13+
mesh_offset:
14+
x: 0.0
15+
y: 0.0
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z: 0.0
17+
roll: 0.0
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pitch: 0.0
19+
yaw: !degrees 180
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shoulder:
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visual:
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mesh:
2024
package: ur_description
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path: meshes/ur10/visual/shoulder.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
2728
package: ur_description
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path: meshes/ur10/collision/shoulder.stl
30+
mesh_offset:
31+
x: 0.0
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y: 0.0
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z: 0.0
34+
roll: 0.0
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pitch: 0.0
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yaw: !degrees 180
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upper_arm:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur10/visual/upperarm.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur10/collision/upperarm.stl
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mesh_files:
47+
mesh_offset:
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x: 0.0
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y: 0.0
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z: 0.220941
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roll: !degrees 90
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pitch: 0.0
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yaw: !degrees -90
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4455
forearm:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur10/visual/forearm.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur10/collision/forearm.stl
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mesh_offset:
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x: 0.0
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y: 0.0
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z: 0.049042
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roll: !degrees 90
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pitch: 0.0
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yaw: !degrees -90
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wrist_1:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur10/visual/wrist1.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur10/collision/wrist1.stl
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visual_offset: -0.1149
81+
mesh_offset:
82+
x: 0.0
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y: 0.0
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z: -0.1149
85+
roll: !degrees 90
86+
pitch: 0.0
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yaw: 0.0
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wrist_2:
7290
visual:
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mesh:
7492
package: ur_description
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path: meshes/ur10/visual/wrist2.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur10/collision/wrist2.stl
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visual_offset: -0.1158
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mesh_offset:
99+
x: 0.0
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y: 0.0
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z: -0.1158
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roll: 0.0
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pitch: 0.0
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yaw: 0.0
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wrist_3:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur10/visual/wrist3.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
95113
package: ur_description
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path: meshes/ur10/collision/wrist3.stl
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visual_offset: -0.0922
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mesh_offset:
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x: 0.0
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y: 0.0
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z: -0.0922
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roll: !degrees 90
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pitch: 0.0
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yaw: 0.0

‎config/ur10e/physical_parameters.yaml‎

Lines changed: 0 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,5 @@
11
# Physical parameters
22

3-
offsets:
4-
shoulder_offset: 0.1762 # measured from model
5-
elbow_offset: 0.0393 # measured from model
63

74
inertia_parameters:
85
base_mass: 4.0 # This mass might be incorrect
@@ -13,12 +10,6 @@ inertia_parameters:
1310
wrist_2_mass: 1.98
1411
wrist_3_mass: 0.615
1512

16-
shoulder_radius: x0.060 # FROM UR5 DON'T USE
17-
upper_arm_radius: x0.054 # FROM UR5 DON'T USE
18-
elbow_radius: x0.060 # FROM UR5 DON'T USE
19-
forearm_radius: x0.040 # FROM UR5 DON'T USE
20-
wrist_radius: x0.045 # FROM UR5 DON'T USE
21-
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links:
2314
base:
2415
radius: 0.075

‎config/ur10e/visual_parameters.yaml‎

Lines changed: 49 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -6,92 +6,117 @@ mesh_files:
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mesh:
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package: ur_description
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path: meshes/ur10e/visual/base.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
1310
mesh:
1411
package: ur_description
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path: meshes/ur10e/collision/base.stl
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mesh_offset:
14+
x: 0.0
15+
y: 0.0
16+
z: 0.0
17+
roll: 0.0
18+
pitch: 0.0
19+
yaw: !degrees 180
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shoulder:
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visual:
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mesh:
2024
package: ur_description
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path: meshes/ur10e/visual/shoulder.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
2627
mesh:
2728
package: ur_description
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path: meshes/ur10e/collision/shoulder.stl
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mesh_offset:
31+
x: 0.0
32+
y: 0.0
33+
z: 0.0
34+
roll: 0.0
35+
pitch: 0.0
36+
yaw: !degrees 180
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upper_arm:
3139
visual:
3240
mesh:
3341
package: ur_description
3442
path: meshes/ur10e/visual/upperarm.dae
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material:
36-
name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
3944
mesh:
4045
package: ur_description
4146
path: meshes/ur10e/collision/upperarm.stl
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mesh_files:
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mesh_offset:
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x: 0.0
50+
y: 0.0
51+
z: 0.1762
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roll: !degrees 90
53+
pitch: 0.0
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yaw: !degrees -90
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forearm:
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visual:
4658
mesh:
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package: ur_description
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path: meshes/ur10e/visual/forearm.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
5463
package: ur_description
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path: meshes/ur10e/collision/forearm.stl
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mesh_offset:
66+
x: 0.0
67+
y: 0.0
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z: 0.0393
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roll: !degrees 90
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pitch: 0.0
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yaw: !degrees -90
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wrist_1:
5874
visual:
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mesh:
6076
package: ur_description
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path: meshes/ur10e/visual/wrist1.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
6679
mesh:
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package: ur_description
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path: meshes/ur10e/collision/wrist1.stl
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visual_offset: -0.135
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mesh_offset:
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x: 0.0
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y: 0.0
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z: -0.135
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roll: !degrees 90
87+
pitch: 0.0
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yaw: 0.0
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wrist_2:
7291
visual:
7392
mesh:
7493
package: ur_description
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path: meshes/ur10e/visual/wrist2.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
8197
package: ur_description
8298
path: meshes/ur10e/collision/wrist2.stl
83-
visual_offset: -0.12
99+
mesh_offset:
100+
x: 0.0
101+
y: 0.0
102+
z: -0.12
103+
roll: 0.0
104+
pitch: 0.0
105+
yaw: 0.0
84106

85107
wrist_3:
86108
visual:
87109
mesh:
88110
package: ur_description
89111
path: meshes/ur10e/visual/wrist3.dae
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material:
91-
name: "LightGrey"
92-
color: "0.7 0.7 0.7 1.0"
93112
collision:
94113
mesh:
95114
package: ur_description
96115
path: meshes/ur10e/collision/wrist3.stl
97-
visual_offset: -0.1168
116+
mesh_offset:
117+
x: 0.0
118+
y: 0.0
119+
z: -0.1168
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roll: !degrees 90
121+
pitch: 0.0
122+
yaw: 0.0

‎config/ur12e/physical_parameters.yaml‎

Lines changed: 0 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,5 @@
11
# Physical parameters
22

3-
offsets:
4-
shoulder_offset: 0.1762 # measured from model
5-
elbow_offset: 0.0393 # measured from model
63

74
inertia_parameters:
85
base_mass: 4.0 # This mass might be incorrect
@@ -13,12 +10,6 @@ inertia_parameters:
1310
wrist_2_mass: 1.98
1411
wrist_3_mass: 0.615
1512

16-
shoulder_radius: x0.060 # FROM UR5 DON'T USE
17-
upper_arm_radius: x0.054 # FROM UR5 DON'T USE
18-
elbow_radius: x0.060 # FROM UR5 DON'T USE
19-
forearm_radius: x0.040 # FROM UR5 DON'T USE
20-
wrist_radius: x0.045 # FROM UR5 DON'T USE
21-
2213
links:
2314
base:
2415
radius: 0.075

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