Inertial parameters for CRX-10iA/L to run in Gazebo

[ammar-n-abbas]

Hi,

Is it possible to get initial parameters of CRX-10iA/L, I want to simulate the robot in Gazebo.

Thanks

[gavanderhoorn]

Fanuc does not make those values available, so I wouldn't have anything to add to the xacro:macro.

If you can find the values somewhere (scientific paper, system identification, etc), we could add them.

[ammar-n-abbas]

@gavanderhoorn thanks for opening the discussion.

I could not find the values, however I calculated through this library in python https://github.com/gstavrinos/calc-inertia by approximating the mass values of the links. Further after applying damping and friction to the joints I was able to make to robot stable and work in the gazebo environment.

Although all the dynamic values are not very good approximates, but if someone needs the configuration of the controller and the modified urdf to be able to test in Gazebo, I can provide.