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kr210_support: suspicious mass values in L150 xacro #36
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Just noticed that all |
@gavanderhoorn I believe it was SolidWorks generated. I did not use robot in simulation, so I don't think that's why I set a mass value there. Looks like I got it from a step file, so it's likely a solidworks error. I can't seem to locate the original file to verify that those are the masses in SW. |
Lacking any way (or time) to get more realistic values for the masses and inertias, I think I'm going to remove the I'll leave this open for now, so if anyone watching has objections to this, please speak up. Otherwise I'll update the macro next week. |
To be addressed via #124 |
The
inertial
element of the KR 210 L150 xacro macro contains a suspicious value for themass
ofbase_link
(here). The base is probably heavy, but1572.9
Kg seems a bit much.@gomezc: did you set this value on purpose (to fix the base in place in simulation, fi)? Or is this a solidworks error?
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