Skip to content

Updated the BB robot config file #33

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Mads-Elkjaer wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Updated the BB robot config file #33

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
165 changes: 83 additions & 82 deletions config/models/breeding_blanket_handling_robot.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,144 +16,145 @@ kinematics:
# given by the placement of the frames which is also typically at the end or start of the link.
inertial_ref_frame: "end_of_link_like_DH" # can either be "end_of_link_like_DH" or "start_of_link_like_MDH"


dh_params:
type: "classic" # describes the DH convention used can be either 'classic' (DH) or 'modified' (MDH)
a: [0.0, 0.0, 0.0, 0.0, 0.388, 0.0, 0.0]
type: "classic" # Describes DH convention is used can be either 'classic' (DH) or 'modified' (MDH)
a: [0.0, 0.0, 0.468, -0.468, 0.438, 0.0, 0.0]
alpha: [0.0, -1.5707963267948966, 0.0, -1.5707963267948966, 0.0, -1.5707963267948966, 0.0]
theta: [-1.5707963267948966, 0.0, 0.0, 0.0, -1.5707963267948966, 0.0, 0.0]
d: [-0.4450, 0.0, 0.93, 0.0, 3.3873, 0.0, 0.0]
d: [-0.0, 0.0, 0.93, 0.0, 3.0323, 0.0, 0.0]

inertial:
joint_1:
type: "prismatic"
mass: 3368.4000 # kg
com: [-0.000000, 4.776900, 0.605240] # meters [m]
mass: 3523.6000 # kg
com: [0.0462320000000003, 4.6455000000000002, 0.7246200000000000] # meters [m]
inertia:
ixx: 490.050000
ixy: -0.000001
ixz: -0.000000
iyy: 1677.100000
iyz: -0.488560
izz: 1227.300000
ixx: 15940.7319999999999709
iyy: 4172.8239999999996144
izz: 18582.5329999999994470
ixy: 108.1039999999992745
ixz: -141.9999999999999716
iyz: 233.7580000000000098

joint_2:
type: "revolute"
mass: 10552.0000 # kg
com: [-0.000000, -0.575180, 3.108600] # meters [m]
mass: 10415.0000 # kg
com: [-0.0000267980000000, -0.9320799999999998, 3.2787999999999999] # meters [m]
inertia:
ixx: 19753.000000
ixy: 0.000000
ixz: 0.505000
iyy: 19645.000000
iyz: 0.000000
izz: 2298.700000
ixx: 40567.7660000000032596
iyy: 39813.9970000000030268
izz: 3000.9760000000001128
ixy: 0.2490000000000611
ixz: 998.5159999999999627
iyz: -0.6270000000022542

joint_3:
type: "prismatic"
mass: 5283.8000 # kg
com: [-0.013641, -0.462480, -0.000951] # meters [m]
mass: 5509.2000 # kg
com: [-0.4842530000000000, -0.9025200000000000, -0.0028617000000000] # meters [m]
inertia:
ixx: 24429.000000
ixy: -3.165800
ixz: 0.068544
iyy: 2207.700000
iyz: 1.259700
izz: 23579.000000
ixx: 2908.0639999999998508
iyy: 2113.3659999999999854
izz: 2919.8499999999999091
ixy: 6.8049999999999997
ixz: 0.2550000000000000
iyz: -109.9599999999999937

joint_4:
type: "revolute"
mass: 3821.7056 # kg
com: [0.000000, -0.000000, 0.373543] # meters [m]
mass: 2987.8000 # kg
com: [0.0259800000000000, 0.0000000004822200, 0.0515730000000000] # meters [m]
inertia:
ixx: 880.330128
ixy: -0.000000
ixz: 0.000000
iyy: 563.862231
iyz: -0.000000
izz: 967.243483
ixx: 705.0610000000000355
iyy: 522.9439999999999600
izz: 655.8440000000000509
ixy: 0.0000000000000000
ixz: 0.0000000000000000
iyz: -12.2159999999999904

joint_5:
type: "revolute"
mass: 4481.3488 # kg
com: [-0.230282, 0.006404, -2.012886] # meters [m]
mass: 4453.5000 # kg
com: [-0.2682599999999999, -0.0000000687380000, -2.0652500000000003] # meters [m]
inertia:
ixx: 2332.060209
ixy: 0.000000
ixz: 24.208440
iyy: 2327.892247
iyz: -0.136434
izz: 199.973559
ixx: 4341.2989999999999782
iyy: 4547.9350000000004002
izz: 423.3799999999999955
ixy: 0.0000000000000000
ixz: -728.8680000000000518
iyz: 0.0000000000000000

joint_6:
type: "revolute"
mass: 2517.5834 # kg
com: [0.000000, 0.690841, 0.000000] # meters [m]
mass: 2501.6000 # kg
com: [-0.0000000000007461, 0.6950800000000000, -0.0000000000000111] # meters [m]
inertia:
ixx: 945.939945
ixy: 0.000007
ixz: -0.000005
iyy: 135.861057
iyz: -0.000000
izz: 1014.327551
ixx: 938.3519999999999754
iyy: 134.5780000000000030
izz: 1006.2380000000000564
ixy: 0.0000000000000000
ixz: 0.0000000000000000
iyz: 0.0000000000000534

joint_7:
type: "revolute"
mass: 1640.4863 # kg
com: [-0.000000, -0.643067, -0.000001] # meters [m]
mass: 2359.6000 # kg
com: [0.0000002655700000, -0.8878200000000001, -0.0000056360000000] # meters [m]
inertia:
ixx: 207.020454
ixy: 0.000066
ixz: -0.000014
iyy: 149.112185
iyz: 0.000035
izz: 255.146028
ixx: 572.3419999999999845
iyy: 184.7949999999999875
izz: 630.2889999999999873
ixy: -0.0120000000000000
ixz: 0.0000000000000000
iyz: 0.0000000000000000

joint_limits:
joint_1:
max_torque: 1000.0 # Nm
max_velocity: 3.14159265 # rad/s
max_acceleration: 40.0 # rad/s²
max_torque: 1000.0 # N
max_velocity: 0.01 # m/s
max_acceleration: 40.0 # m/s²
max_position: 8.0 # m
min_position: -25.0 # m

joint_2:
max_torque: 1000.0 # Nm
max_velocity: 3.14159265 # rad/s
max_velocity: 0.0070 # rad/s
max_acceleration: 40.0 # rad/s²
max_position: 5.0 # rad
min_position: -5.0 # rad
max_position: 0.1396 # rad
min_position: -0.1396 # rad

joint_3:
max_torque: 1000.0 # Nm
max_velocity: 3.14159265 # rad/s
max_acceleration: 40.0 # rad/s²
max_position: 4.66 # m
min_position: 0.935 # m
max_torque: 1000.0 # N
max_velocity: 0.005 # m/s
max_acceleration: 40.0 # m/s²
max_position: 3.7 # m
min_position: 0 # m

joint_4:
max_torque: 1000.0 # Nm
max_velocity: 3.14159265 # rad/s
max_velocity: 0.002 # rad/s
max_acceleration: 40.0 # rad/s²
max_position: 0.1745 # rad
min_position: -0.1745 # rad
max_position: 0.0349 # rad
min_position: -0.0349 # rad

joint_5:
max_torque: 1000.0 # Nm
max_velocity: 3.14159265 # rad/s
max_velocity: 0.88 # rad/s
max_acceleration: 40.0 # rad/s²
max_position: 3.14159265 # rad
min_position: -3.14159265 # rad
max_position: 6.28318530718 # rad
min_position: -6.28318530718 # rad

joint_6:
max_torque: 1000.0 # Nm
max_velocity: 3.14159265 # rad/s
max_velocity: 0.88 # rad/s
max_acceleration: 40.0 # rad/s²
max_position: 3.14159265 # rad
min_position: -3.14159265 # rad
max_position: 6.28318530718 # rad
min_position: -6.28318530718 # rad

joint_7:
max_torque: 1000.0 # Nm
max_velocity: 3.14159265 # rad/s
max_velocity: 0.002 # rad/s
max_acceleration: 40.0 # rad/s²
max_position: 0.3491 # rad
min_position: -0.3491 # rad
max_position: 0.1396 # rad
min_position: -0.1396 # rad
Loading