Yaskawa GZ simulation

[LucaMIMOUNI]

Hey !

I would like to know if there is an available gazebo (ignition) simulation package for any yaskawa robot, and especially the motoman_ma2010 ?

If not, do you know where I could find the inertia of each links so I can build one myself ?
I would expect something like this (this is from UniversalRobot github):

# Physical parameters

offsets:
  shoulder_offset: 0.1762 # measured from model
  elbow_offset: 0.0393 # measured from model

inertia_parameters:
  base_mass: 4.0  # This mass might be incorrect
  shoulder_mass: 7.369
  upper_arm_mass: 13.051
  forearm_mass: 3.989
  wrist_1_mass: 2.1
  wrist_2_mass: 1.98
  wrist_3_mass: 0.615

  shoulder_radius: x0.060   # FROM UR5 DON'T USE
  upper_arm_radius: x0.054  # FROM UR5 DON'T USE
  elbow_radius: x0.060      # FROM UR5 DON'T USE
  forearm_radius: x0.040    # FROM UR5 DON'T USE
  wrist_radius: x0.045      # FROM UR5 DON'T USE

  links:
    base:
      radius: 0.075
      length: 0.038

  # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
  center_of_mass:
    shoulder_cog:
      x: 0.021      # model.x
      y: -0.027     # -model.z
      z: 0.0        # model.y
    upper_arm_cog:
      x: -0.2327    # model.x - upper_arm_length
      y: 0.0        # model.y
      z: 0.158      # model.z
    forearm_cog:
      x: -0.33155   # model.x - forearm_length
      y: 0.0        # model.y
      z: 0.068      # model.z
    wrist_1_cog:
      x: 0.0        # model.x
      y: -0.018     # -model.z
      z: 0.007      # model.y
    wrist_2_cog:
      x: 0.0        # model.x
      y: 0.018      # model.z
      z: -0.007     # -model.y
    wrist_3_cog:
      x: 0.0        # model.x
      y: 0.0        # model.y
      z: -0.026     # model.z

  rotation:
    shoulder:
      roll: 1.570796326794897
      pitch: 0
      yaw: 0
    upper_arm:
      roll: 0
      pitch: 0
      yaw: 0
    forearm:
      roll: 0
      pitch: 0
      yaw: 0
    wrist_1:
      roll: 1.570796326794897
      pitch: 0
      yaw: 0
    wrist_2:
      roll: -1.570796326794897
      pitch: 0
      yaw: 0
    wrist_3:
      roll: 0
      pitch: 0
      yaw: 0

  tensor:
    shoulder:
      ixx: 0.03408
      ixy: 0.00002
      ixz: -0.00425
      iyy: 0.03529
      iyz: 0.00008
      izz: 0.02156
    upper_arm:
      ixx: 0.02814
      ixy: 0.00005
      ixz: -0.01561
      iyy: 0.77068
      iyz: 0.00002
      izz: 0.76943
    forearm:
      ixx: 0.01014
      ixy: 0.00008
      ixz: 0.00916
      iyy: 0.30928
      iyz: 0.0
      izz: 0.30646
    wrist_1:
      ixx: 0.00296
      ixy: -0.00001
      ixz: 0.0
      iyy: 0.00222
      iyz: -0.00024
      izz: 0.00258
    wrist_2:
      ixx: 0.00296
      ixy: -0.00001
      ixz: 0.0
      iyy: 0.00222
      iyz: -0.00024
      izz: 0.00258
    wrist_3:
      ixx: 0.00040
      ixy: 0.0
      ixz: 0.0
      iyy: 0.00041
      iyz: 0.0
      izz: 0.00034

Thank you.

Luca

[gavanderhoorn]

Please see #470.

Summarising: Yaskawa does not publicly release information such as inertias of links. If you're interested, an NDA would have to be put in place.

[ted-miller]

Please contact your local Yaskawa office to discuss directly.

[LucaMIMOUNI]

Hey,

Thank you for your answers, I will call the local office.

PS: My bad for the cross-post.

Best,

Luca