Update dynamic properties (backport #195) #201
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* Remove unused dh_parameters * Rename prop__wrist_2_cog to prop_wrist_2_cog for consistency * Update mass and cog and use full inertia matrix. * Update max_efforts (torque limits) * Remove code and values that are no longer needed. --------- Co-authored-by: Rune Søe-Knudsen <[email protected]> (cherry picked from commit 60e6974)
fmauch
approved these changes
Sep 20, 2024
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Update some dynamic properties of the robots to reflect the most recent values. Note that the inertia matrices of UR3, UR3e, UR5, and UR5e are generated by the cylindrical inertia, since most of the values provided by UR are zeros and could potentially cause simulation to blow up. Those quantities may be updated later when appropriate values are found.
This is an automatic backport of pull request #195 done by Mergify.