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Mass of UR5e are incorrect #186

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olufskovnielsen opened this issue Aug 22, 2024 · 1 comment · Fixed by #187

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olufskovnielsen commented Aug 22, 2024

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

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fmauch commented Sep 4, 2024 •

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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.

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Fix masses of robot links #187

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that will close this issue

Fix masses of robot links #187

Merged

VinDp closed this as completed in #187

This was referenced Sep 9, 2024

Fix masses of robot links (backport #187) #189

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Fix masses of robot links (backport #187) #190

Merged

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