Merge pull request #251 from ROBOTIS-GIT/ros2-devel

Sync ROS2
ROBOTIS-GIT · Jun 9, 2023 · 7b99ef9 · 7b99ef9
2 parents 70ac99a + b0417e8
commit 7b99ef9
Showing 1 changed file with 24 additions and 24 deletions.
diff --git a/open_manipulator_x_libs/src/open_manipulator_x.cpp b/open_manipulator_x_libs/src/open_manipulator_x.cpp
@@ -45,11 +45,11 @@ void OpenManipulatorX::init_open_manipulator_x(bool sim, STRING usb_port, STRING
  M_PI, // max joint limit (3.14 rad)
  -M_PI, // min joint limit (-3.14 rad)
  1.0, // coefficient
- 9.8406837e-02, // mass
- math::inertiaMatrix(3.4543422e-05, -1.6031095e-08, -3.8375155e-07,
- 3.2689329e-05, 2.8511935e-08,
- 1.8850320e-05), // inertial tensor
- math::vector3(-3.0184870e-04, 5.4043684e-04, 0.018 + 2.9433464e-02) // COM
+ 1.0483260e-01, // mass
+ math::inertiaMatrix(1.0781918e-04, 0.0, 0.0,
+  1.0355255e-04, -1.8062416e-06,
+ 1.7644210e-05), // inertial tensor
+ math::vector3(0.0, 5.6914372e-04, 0.018 + 2.6565513e-02)  // COM
  );
 
  addJoint("joint2", // my name
@@ -62,11 +62,11 @@ void OpenManipulatorX::init_open_manipulator_x(bool sim, STRING usb_port, STRING
  M_PI_2, // max joint limit (1.67 rad)
  -2.05, // min joint limit (-2.05 rad)
  1.0, // coefficient
- 1.3850917e-01, // mass
- math::inertiaMatrix(3.3055381e-04, 9.7940978e-08, -3.8505711e-05,
- 3.4290447e-04, -1.5717516e-06,
- 6.0346498e-05), // inertial tensor
- math::vector3(1.0308393e-02, 3.7743363e-04, 1.0170197e-01) // COM
+ 1.4234630e-01, // mass
+ math::inertiaMatrix(1.8365231e-03, -8.2177190e-07, -1.6490470e-04,
+  1.8562153e-03, -7.6370887e-06,
+ 5.4940213e-05), // inertial tensor
+ math::vector3(9.1617228e-03, 4.1915210e-04, 1.0599936e-01) // COM
  );
 
  addJoint("joint3", // my name
@@ -79,11 +79,11 @@ void OpenManipulatorX::init_open_manipulator_x(bool sim, STRING usb_port, STRING
  1.53, // max joint limit (1.53 rad)
  -M_PI_2, // min joint limit (-1.67 rad)
  1.0, // coefficient
- 1.3274562e-01, // mass
- math::inertiaMatrix(3.0654178e-05, -1.2764155e-06, -2.6874417e-07,
- 2.4230292e-04, 1.1559550e-08,
- 2.5155057e-04), // inertial tensor
- math::vector3(9.0909590e-02, 3.8929816e-04, 2.2413279e-04) // COM
+ 1.3467049e-01, // mass
+ math::inertiaMatrix(2.4835638e-05, -6.7882502e-06, -2.7331036e-09,
+  1.3502276e-03, 0.0,
+ 1.3589608e-03), // inertial tensor
+ math::vector3(9.3290225e-02, 4.4304274e-04, 3.6312773e-07) // COM
  );
 
  addJoint("joint4", // my name
@@ -96,10 +96,10 @@ void OpenManipulatorX::init_open_manipulator_x(bool sim, STRING usb_port, STRING
  2.0, // max joint limit (2.0 rad)
  -1.8, // min joint limit (-1.8 rad)
  1.0, // coefficient
- 1.4327573e-01, // mass
- math::inertiaMatrix(8.0870749e-05, 0.0, -1.0157896e-06,
- 7.5980465e-05, 0.0,
- 9.3127351e-05), // inertial tensor
+ 1.6512361e-01, // mass
+ math::inertiaMatrix(9.9192159e-05, 7.1970402e-09, -6.4649200e-05,
+  4.7615217e-04, -2.2085254e-07,
+ 4.7876798e-04), // inertial tensor
  math::vector3(4.4206755e-02, 3.6839985e-07, 8.9142216e-03) // COM
  );
 
@@ -111,11 +111,11 @@ void OpenManipulatorX::init_open_manipulator_x(bool sim, STRING usb_port, STRING
  0.010, // max gripper limit (0.01 m)
  -0.010, // min gripper limit (-0.01 m)
  -0.015, // Change unit from `meter` to `radian`
- 3.2218127e-02 * 2, // mass
- math::inertiaMatrix(9.5568826e-06, 2.8424644e-06, -3.2829197e-10,
- 2.2552871e-05, -3.1463634e-10,
- 1.7605306e-05), // inertial tensor
- math::vector3(0.028 + 8.3720668e-03, 0.0246, -4.2836895e-07) // COM
+ 3.6700241e-02 * 2, // mass
+ math::inertiaMatrix(1.3343511e-05, 6.5936965e-06, -1.2045858e-09,
+  3.1948952e-05, 1.8419228e-10,
+ 2.7456763e-05), // inertial tensor
+ math::vector3(1.3928529e-02, -7.3239535e-03, 4.5486219e-07) // COM
  );
 
  /*****************************************************************************