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model.sdf of kuka youbot

asked 2015-04-09 21:50:20 -0500

daichi gravatar image

Hi everyone.

I'm trying to use kuka youbot model. I got it from here.
However it seems that model.sdf has some wrong parameters.
Where is correct model.sdf ?

For example, some parameters, such as mass of arm_link_0, inertia of arm_link_1 and so on, are different from values provided by official youbot page.
Furthermore, it includes weird values. All joints' efforts and maximum velocities are zero, the positions of center of mass of arm_link mostly look wrong (Some of them are placed out of the object ...)...

Anyway, I want correct model.sdf file.
Where is correct model.sdf ?
If the model.sdf is correct, why do I have the above situation ? What is my misunderstanding ?

Thanks in advance.

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1 Answer

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answered 2015-04-10 02:06:43 -0500

chapulina gravatar image

It is possible that some parameters might be mistaken on this model. If you fixed any of them, please share them with the rest of the community by submitting a pull request to gazebo_models, where the SDF is hosted. Be sure to back up your changes with official information.

Thanks

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Asked: 2015-04-09 21:50:20 -0500

Seen: 1,149 times

Last updated: Apr 10 '15