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[franka_description] Use proper title; make more searchable #302

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[franka_description] Use proper title; make more searchable #302

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15 changes: 8 additions & 7 deletions franka_description/robots/common/inertial.yaml
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Original file line number Diff line number Diff line change
@@ -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
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21 changes: 12 additions & 9 deletions franka_gazebo/test/launch/panda-gazebo.urdf
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Original file line number Diff line number Diff line change
@@ -1,14 +1,17 @@
<?xml version="1.0" encoding="utf-8"?>
<robot name="panda">
<!-- =============================================================== -->
<!-- || 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 third-party || -->
<!-- =============================================================== -->
<!--
===============================================================
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
===============================================================
-->
<link name="world"/>
<joint name="panda_joint_panda_mount" type="fixed">
<parent link="panda_mount"/>
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