correct inertial of wrist3

ros-industrial · May 29, 2019 · e42b021 · e42b021
1 parent 7cfe226
commit e42b021
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
@@ -270,8 +270,8 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.045" length="0.0305" mass="${wrist_3_mass}">
+        <origin xyz="0.0 0.0 ${-0.0305/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>