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Update UR Kinematics Parameters for e-series #713

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Feb 18, 2022
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Update UR Kinematics Parameters for e-series #713

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6 changes: 3 additions & 3 deletions tesseract_kinematics/core/include/tesseract_kinematics/core/types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -67,13 +67,13 @@ const static URParameters UR5Parameters(0.089159, -0.42500, -0.39225, 0.10915, 0
const static URParameters UR3Parameters(0.1519, -0.24365, -0.21325, 0.11235, 0.08535, 0.0819);

/** @brief The UR10e kinematic parameters */
const static URParameters UR10eParameters(0.181, -0.613, -0.571, 0.135 + 0.176 - 0.137, 0.120, 0.117);
const static URParameters UR10eParameters(0.1807, -0.6127, -0.57155, 0.17415, 0.11985, 0.11655);

/** @brief The UR5e kinematic parameters */
const static URParameters UR5eParameters(0.163, -0.425, -0.392, 0.127 + 0.138 - 0.131, 0.100, 0.100);
const static URParameters UR5eParameters(0.1625, -0.425, -0.3922, 0.1333, 0.0997, 0.0996);

/** @brief The UR3e kinematic parameters */
const static URParameters UR3eParameters(0.152, -0.244, -0.213, 0.104 + 0.138 - 0.131, 0.085, 0.092);
const static URParameters UR3eParameters(0.15185, -0.24355, -0.2132, 0.13105, 0.08535, 0.0921);

} // namespace tesseract_kinematics
#endif // TESSERACT_KINEMATICS_TYPES_H