Skip to content

Commit

Permalink
Recompute inertial properties
Browse files Browse the repository at this point in the history 
Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com>
  • Loading branch information
@AndrejOrsula
AndrejOrsula committed Dec 29, 2020
1 parent 64f73ec commit ad04105
Show file tree
Hide file tree
Showing 2 changed files with 92 additions and 94 deletions.
12 changes: 5 additions & 7 deletions README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,15 @@
URDF and SDF descriptions of Franka Emika Panda robot compatible with Ignition and MoveIt2.

![panda](panda/thumbnails/2.png)
Collision geometry was remodelled to make it more realistic and improve performance, see [#3](https://github.com/AndrejOrsula/panda_ign/pull/3).
**Collision geometry** was remodelled to make it more realistic and improve performance, see [#3](https://github.com/AndrejOrsula/panda_ign/pull/3).

The SDF description also contains estimated dynamic parameters, which are NOT based on real-life robot.
**Inertial properties** of all links are estimated with [estimate_inertial_properties.py](scripts/estimate_inertial_properties.py) script, while assuming total mass of 18 kg and uniform density.

The SDF description also contains estimated **dynamic parameters**, which are however NOT based on real-life robot.

## Instructions

### ROS 2
### ROS 2 (Optional)

Build with `colcon` and source the environment to make URDF discoverable for ROS 2.

Expand Down Expand Up @@ -48,7 +50,3 @@ panda_ign
├── CMakeLists.txt
└── package.xml # ROS2 panda description package `panda_ign`
```

## Disclaimer

Inertial properties of links are currently based on estimates from [mkrizmancic/franka_gazebo](https://github.com/mkrizmancic/franka_gazebo).
174 changes: 87 additions & 87 deletions panda/model.sdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,15 +34,15 @@
</surface>
</collision>
<inertial>
<pose>-0.025566 -2.88e-05 0.057332 0 0 0</pose>
<mass>2.92</mass>
<pose>-0.025566 -2.87883e-05 0.057332 0 0 0</pose>
<mass>2.814271300104062</mass>
<inertia>
<ixx>0.00782229414331</ixx>
<ixy>-1.56191622996e-05</ixy>
<ixz>-0.00126005738123</ixz>
<iyy>0.0109027971813</iyy>
<iyz>1.08233858202e-05</iyz>
<izz>0.0102355503949</izz>
<ixx>0.0075390636364814695</ixx>
<iyy>0.010508017427382959</iyy>
<izz>0.009864933638708275</izz>
<ixy>-1.5053124574783335e-05</ixy>
<ixz>-0.0012144328835738973</ixz>
<iyz>1.0434803501032979e-05</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -72,15 +72,15 @@
</surface>
</collision>
<inertial>
<pose>0 -0.0324958 -0.0675818 0 0 0</pose>
<mass>2.74</mass>
<pose>-3.72212e-09 -0.0324958 -0.0675818 0 0 0</pose>
<mass>2.6433170427227215</mass>
<inertia>
<ixx>0.0180416958283</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0159136071891</iyy>
<iyz>0.0046758424612</iyz>
<izz>0.00620690827127</izz>
<ixx>0.017405076982879724</ixx>
<iyy>0.015352077935781732</iyy>
<izz>0.005987891663073857</izz>
<ixy>-8.687986369621078e-09</ixy>
<ixz>-1.6277819062920423e-08</ixz>
<iyz>0.004510855959102245</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -110,15 +110,15 @@
</surface>
</collision>
<inertial>
<pose>0 -0.06861 0.0322285 0 0 0</pose>
<mass>2.74</mass>
<pose>3.17833e-07 -0.06861 0.0322285 0 0 0</pose>
<mass>2.6652755331661186</mass>
<inertia>
<ixx>0.0182856182281</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00621358421175</iyy>
<iyz>-0.00472844221905</iyz>
<izz>0.0161514346309</izz>
<ixx>0.01778694005635383</ixx>
<iyy>0.006044133867952844</iyy>
<izz>0.01571095500455695</izz>
<ixy>8.70635625879119e-08</ixy>
<ixz>3.752072058394008e-08</ixz>
<iyz>-0.004599490295490376</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -149,14 +149,14 @@
</collision>
<inertial>
<pose>0.0469893 0.0316374 -0.031704 0 0 0</pose>
<mass>2.38</mass>
<mass>2.3293714829045733</mass>
<inertia>
<ixx>0.00771376630908</ixx>
<ixy>-0.00248490625138</ixy>
<ixz>-0.00332147581033</ixz>
<iyy>0.00989108008727</iyy>
<iyz>-0.00217796151484</iyz>
<izz>0.00811723558464</izz>
<ixx>0.0075496764161139766</ixx>
<iyy>0.009680676080191398</iyy>
<izz>0.007944557422008086</izz>
<ixy>-0.0024320464513492225</ixy>
<ixz>-0.003250815048103007</ixz>
<iyz>-0.0021316282421730694</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -186,15 +186,15 @@
</surface>
</collision>
<inertial>
<pose>-0.0360446 0.0336853 0.031882 0 0 0</pose>
<mass>2.38</mass>
<pose>-0.0360505 0.0337069 0.0319019 0 0 0</pose>
<mass>2.3104763646281508</mass>
<inertia>
<ixx>0.00799663881132</ixx>
<ixy>0.00347095570217</ixy>
<ixz>-0.00241222942995</ixz>
<iyy>0.00825390705278</iyy>
<iyz>0.00235774044121</iyz>
<izz>0.0102515004345</izz>
<ixx>0.007764568814864828</ixx>
<iyy>0.008015776929980149</iyy>
<izz>0.009955882308071066</izz>
<ixy>0.003371475204045935</ixy>
<ixz>-0.002343621113168248</ixz>
<iyz>0.0022917526161470624</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -224,15 +224,15 @@
</surface>
</collision>
<inertial>
<pose>0 0.0610427 -0.104176 0 0 0</pose>
<mass>2.74</mass>
<pose>-6.12525e-06 0.0610427 -0.104176 0 0 0</pose>
<mass>2.6226426154892004</mass>
<inertia>
<ixx>0.030371374513</ixx>
<ixy>6.50283587108e-07</ixy>
<ixz>-1.05129179916e-05</ixz>
<iyy>0.0288752887402</iyy>
<iyz>-0.00775653445787</iyz>
<izz>0.00444134056164</izz>
<ixx>0.029070538014399377</ixx>
<iyy>0.027638529986528795</iyy>
<izz>0.004251111234400737</izz>
<ixy>6.208738268725568e-07</ixy>
<ixz>-1.0059151925023392e-05</ixz>
<iyz>-0.007424306477850814</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -262,15 +262,15 @@
</surface>
</collision>
<inertial>
<pose>0.0510509 0.009108 0.0106343 0 0 0</pose>
<mass>1.55</mass>
<pose>0.051051 0.00910797 0.0106343 0 0 0</pose>
<mass>1.5025804886626795</mass>
<inertia>
<ixx>0.00303336450376</ixx>
<ixy>-0.000437276865508</ixy>
<ixz>0.000629257294877</ixz>
<iyy>0.00404479911567</iyy>
<iyz>0.000130472021025</iyz>
<izz>0.00558234286039</izz>
<ixx>0.002940555801469018</ixx>
<iyy>0.00392105201248677</iyy>
<izz>0.0054115603870960195</izz>
<ixy>-0.00042391108351381507</ixy>
<ixz>0.000610007735338717</ixz>
<iyz>0.00012647545430836214</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -300,15 +300,15 @@
</surface>
</collision>
<inertial>
<pose>0.0109695 0.0107965 0.0650411 0 0 0</pose>
<mass>0.54</mass>
<pose>0.0109695 0.0107965 0.0650412 0 0 0</pose>
<mass>0.5237668134788256</mass>
<inertia>
<ixx>0.000888868887021</ixx>
<ixy>-0.00012239074652</ixy>
<ixz>3.98699829666e-05</ixz>
<iyy>0.000888001373233</iyy>
<iyz>-9.33825115206e-05</iyz>
<izz>0.0007176834609</izz>
<ixx>0.0008621467959726535</ixx>
<iyy>0.0008613100184801048</iyy>
<izz>0.0006961139396618219</izz>
<ixy>-0.00011871071570425467</ixy>
<ixz>3.866602604509339e-05</ixz>
<iyz>-9.057841649422724e-05</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -499,15 +499,15 @@
</surface>
</collision>
<inertial>
<pose>0 0.0015244 0.0275912 0 0 0</pose>
<mass>0.73</mass>
<pose>-6.7624e-06 0.00152435 0.0275912 0 0 0</pose>
<mass>0.5624306051191401</mass>
<inertia>
<ixx>0.00278560230025</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000400033405336</iyy>
<iyz>0</iyz>
<izz>0.00256378041832</izz>
<ixx>0.0021461801657408287</ixx>
<iyy>0.0003082047819134908</iyy>
<izz>0.0019752707530779658</izz>
<ixy>7.164781183092982e-08</ixy>
<ixz>-9.280287642405004e-08</ixz>
<iyz>1.8724599781263867e-07</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -537,15 +537,15 @@
</surface>
</collision>
<inertial>
<pose>0 0.0145644 0.0227941 0 0 0</pose>
<mass>0.1</mass>
<pose>2.00011e-06 0.0145644 0.0227941 0 0 0</pose>
<mass>0.01293387686226485</mass>
<inertia>
<ixx>3.01220925051e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.95873808038e-05</iyy>
<iyz>0</iyz>
<izz>6.95125211657e-06</izz>
<ixx>3.899046310037491e-06</ixx>
<iyy>3.829217264841585e-06</iyy>
<izz>8.958253578511512e-07</izz>
<ixy>-2.3705826148535123e-10</ixy>
<ixz>1.080128191844512e-09</ixz>
<iyz>6.914898866372756e-07</iyz>
</inertia>
</inertial>
</link>
Expand Down Expand Up @@ -577,15 +577,15 @@
</surface>
</collision>
<inertial>
<pose>0 0.0145644 0.0227941 0 0 3.141592653589793</pose>
<mass>0.1</mass>
<pose>2.00011e-06 0.0145644 0.0227941 0 0 3.141592653589793</pose>
<mass>0.01293387686226485</mass>
<inertia>
<ixx>3.01220925051e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.95873808038e-05</iyy>
<iyz>0</iyz>
<izz>6.95125211657e-06</izz>
<ixx>3.899046310037491e-06</ixx>
<iyy>3.829217264841585e-06</iyy>
<izz>8.958253578511512e-07</izz>
<ixy>-2.3705826148535123e-10</ixy>
<ixz>1.080128191844512e-09</ixz>
<iyz>6.914898866372756e-07</iyz>
</inertia>
</inertial>
</link>
Expand Down

0 comments on commit ad04105

Please sign in to comment.