From bc38f76a05b205670535afe475a4c8e4dc310a8b Mon Sep 17 00:00:00 2001 From: Eric Cousineau Date: Sun, 20 Nov 2022 10:14:43 -0500 Subject: [PATCH] [franka_description] Use proper title; make more searchable Use slightly more proper notation style --- .../robots/common/inertial.yaml | 15 ++++++------- franka_gazebo/test/launch/panda-gazebo.urdf | 21 +++++++++++-------- 2 files changed, 20 insertions(+), 16 deletions(-) diff --git a/franka_description/robots/common/inertial.yaml b/franka_description/robots/common/inertial.yaml index e860909d5..67aa748c6 100644 --- a/franka_description/robots/common/inertial.yaml +++ b/franka_description/robots/common/inertial.yaml @@ -1,10 +1,11 @@ -# This file does not contain official inertial properties -# of panda robot. The values are from the identification -# results published in: Identification of the Franka Emika -# PandaRobot With Retrieval of Feasible Parameters Using -# Penalty-Based Optimization -# by: Claudio Gaz, Marco Cognetti, Alexander Oliva, -# Paolo Robuffo Giordano, Alessandro de Luca +# NOTE: This file does not contain official inertial properties +# of panda robot. The values are from the identification results published in: +# Claudio Gaz, Marco Cognetti, Alexander Oliva, Paolo Robuffo Giordano, and +# Alessandro De Luca, "Dynamic Identification of the Franka Emika Panda Robot +# With Retrieval of Feasible Parameters Using Penalty-Based Optimization". +# IEEE Robot. Autom. Lett., vol. 4, no. 4, pp. 4147–4154, Oct. 2019, +# doi: 10.1109/LRA.2019.2931248. +# https://hal.inria.fr/hal-02265293/document link0: origin: xyz: -0.041018 -0.00014 0.049974 diff --git a/franka_gazebo/test/launch/panda-gazebo.urdf b/franka_gazebo/test/launch/panda-gazebo.urdf index 3ef04c6c5..90f53d600 100644 --- a/franka_gazebo/test/launch/panda-gazebo.urdf +++ b/franka_gazebo/test/launch/panda-gazebo.urdf @@ -1,14 +1,17 @@ - - - - - - - - - +