shamilmamedov / dynamic_calibration Goto Github PK

Identification of dynamic parameters of robotic systems

CMake 0.01% MATLAB 89.74% C 9.47% M 0.78% Limbo 0.01%

dynamic-calibration dynamic-parameter-identification manipulator-dynamics ur-dynamic-model-identification dataset-ur10e

dynamic_calibration's Issues

How to use the solver-sdpt3

When I run the ur_idntfcn_real.m,the parameter pib_SDP is calculated by sol2 = optimize(cnstr, obj, sdpsettings('solver','sdpt3'));.but the values of pib_SDP are NaN.
should I use the function function [obj,X,y,Z,info,runhist] = sdpt3(blk,At,C,b,OPTIONS,X0,y0,Z0)?

What is the reason for the jump in the predicted values of the fifth axis and the sixth axis？

hi， what is the reason for the jump in the predicted values of the fifth axis and the sixth axis？

Error in experiment_design.m

Hello! When I run this code experiment_design.m the following error appears.

>> experiment_design
Unrecognized function or variable 'a'.
Error in experiment_design (line 66)
    x0 = reshape([a b], [6*2*traj_par.N, 1]);

dynamic_calibration/experiment_design.m

Line 66 in 174ccbd

x0 = reshape([a b], [6*2*traj_par.N, 1]);

Should I do something before running this code? thank you for your reply

Can you tell me which book or article do you reference about the screw dynamic

Can you tell me which book or article do you reference about the screw dynamic thanks

Which book or paper does your code refer to？

I want to know in detail how to use your code, thank you

Questions about sol.pi_s Order and pi_full Parameter

Hi,

I have a question regarding the sol.pi_s parameter in your code. Could you please clarify the order of elements in sol.pi_s? Specifically, what do the first 9 numbers represent, and why is each group comprised of 11 numbers?

Additionally, in your previous response, you mentioned that in the experiment_design.m file, there is a vector of full parameters called pi_full. However, I was unable to locate the pi_full parameter in that file. Could you please provide more details on where to find it?

If I understand correctly, sol.pi_s represents the full parameters, right?

Thank you!
Best regards

Which reference coordinate system is the inertia tensor I in "tau = Ypi"? Centroid coordinate or link coordinate?

Thank you very much for your work. I have some questions about some details.

I can use ‘generate_rb_regressor(path_to_urdf);’ to generate regression matrix. But in formula $tau=Y (q, dq, ddq) pi$, I don't know in which reference coordinate the inertia tensor $I$ is expressed. Centroid coordinate or link coordinate ?

what special need to modify the URDF file when identify other robots

Hello! this is a great paper I have read and help me a lot, thank you a lot!
I have some questions now : may I ask, if I want to identify other UR series of robots(such as ur16e , ur3e), what special need to modify the URDF file.
in my job , I get the urdf file use the script rosrun xacro xacro ur16e.xcaro > ur16e.urdf ,
ur16e.xcaro come from this url : https://github.com/fmauch/universal_robot/tree/calibration_devel
when I try to do the same work on the ur16e robot , I find that the some drive gains are negative
I am not sure if my urdf file is configured correctly, so I want to ask for your help , do URDF files need special modification somewhere?

this is the ur10e.urdf file in your work:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ur10e_robot.urdf.xacro         | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ur10e" xmlns:xacro="http://ros.org/wiki/xacro">
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="ros_control">
      <!--robotNamespace>/</robotNamespace-->
      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
    </plugin>
    <!--
    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <powerStateTopic>power_state</powerStateTopic>
      <powerStateRate>10.0</powerStateRate>
      <fullChargeCapacity>87.78</fullChargeCapacity>     
      <dischargeRate>-474</dischargeRate>
      <chargeRate>525</chargeRate>
      <dischargeVoltage>15.52</dischargeVoltage>
      <chargeVoltage>16.41</chargeVoltage>
    </plugin>
-->
  </gazebo>
  <!--
  Author: Kelsey Hawkins
  Contributers: Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
-->
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
    </inertial>
  </link>
  <joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.181"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="shoulder_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/visual/shoulder.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/collision/shoulder.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="7.778"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0314743125769" ixy="0.0" ixz="0.0" iyy="0.0314743125769" iyz="0.0" izz="0.021875625"/>
    </inertial>
  </link>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.176 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/visual/upperarm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/collision/upperarm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="12.93"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3065"/>
      <inertia ixx="0.42307374077" ixy="0.0" ixz="0.0" iyy="0.42307374077" iyz="0.0" izz="0.036365625"/>
    </inertial>
  </link>
  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.137 0.613"/>
    <axis xyz="0 1 0"/>
    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="forearm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/visual/forearm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/collision/forearm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.87"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.2855"/>
      <inertia ixx="0.110590365764" ixy="0.0" ixz="0.0" iyy="0.110590365764" iyz="0.0" izz="0.010884375"/>
    </inertial>
  </link>
  <joint name="wrist_1_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_1_link"/>
    <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.571"/>
    <axis xyz="0 1 0"/>
    <limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_1_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/visual/wrist1.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/collision/wrist1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.96"/>
      <origin rpy="0 0 0" xyz="0.0 0.135 0.0"/>
      <inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
    </inertial>
  </link>
  <joint name="wrist_2_joint" type="revolute">
    <parent link="wrist_1_link"/>
    <child link="wrist_2_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.135 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_2_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/visual/wrist2.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/collision/wrist2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.96"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.12"/>
      <inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
    </inertial>
  </link>
  <joint name="wrist_3_joint" type="revolute">
    <parent link="wrist_2_link"/>
    <child link="wrist_3_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.12"/>
    <axis xyz="0 1 0"/>
    <limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_3_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/visual/wrist3.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_e_description/meshes/ur10e/collision/wrist3.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.202"/>
      <origin rpy="1.57079632679 0 0" xyz="0.0 0.092 0.0"/>
      <inertia ixx="0.000144345775595" ixy="0.0" ixz="0.0" iyy="0.000144345775595" iyz="0.0" izz="0.000204525"/>
    </inertial>
  </link>
  <joint name="ee_fixed_joint" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="ee_link"/>
    <origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.117 0.0"/>
  </joint>
  <link name="ee_link">
    <collision>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
    </collision>
  </link>
  <transmission name="shoulder_pan_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_pan_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_pan_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="shoulder_lift_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_lift_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_lift_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="elbow_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="elbow_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="elbow_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_1_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_2_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_2_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_3_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_3_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="shoulder_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="upper_arm_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="forearm_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="wrist_1_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="wrist_3_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="wrist_2_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="ee_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- ROS base_link to UR 'Base' Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base_fixed_joint" type="fixed">
    <!-- NOTE: this rotation is only needed as long as base_link itself is
                 not corrected wrt the real robot (ie: rotated over 180
                 degrees)
      -->
    <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <!-- Frame coincident with all-zeros TCP on UR controller -->
  <link name="tool0"/>
  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0 0.117 0"/>
    <parent link="wrist_3_link"/>
    <child link="tool0"/>
  </joint>
  <link name="world"/>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
</robot>

and this is I used in my work , I am not sure where I need to modify:

<?xml version="1.0" ?>

<robot name="ur10e" xmlns:xacro="http://ros.org/wiki/xacro">
  
  <!--Link-->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
    </inertial>
  </link>
    
  <link name="shoulder_link">
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/shoulder.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/shoulder.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="7.369"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0298192606556" ixy="0.0" ixz="0.0" iyy="0.0298192606556" iyz="0.0" izz="0.0207253125"/>
    </inertial>
  </link>

  <link name="upper_arm_link">
    <visual>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.176"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur16e/visual/upperarm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.176"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur16e/collision/upperarm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10.45"/>
      <origin rpy="0 1.57079632679 0" xyz="-0.2392 0.0 0.175"/>
      <inertia ixx="0.213999856233" ixy="0.0" ixz="0.0" iyy="0.213999856233" iyz="0.0" izz="0.029390625"/>
    </inertial>
  </link>

  <link name="forearm_link">
    <visual>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.04"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur16e/visual/forearm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.04"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur16e/collision/forearm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.321"/>
      <origin rpy="0 1.57079632679 0" xyz="-0.18 0.0 0.04"/>
      <inertia ixx="0.0527431851527" ixy="0.0" ixz="0.0" iyy="0.0527431851527" iyz="0.0" izz="0.0121528125"/>
    </inertial>
  </link>

  <link name="wrist_1_link">
    <visual>
      <!-- TODO: Move this to a parameter -->
      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.135"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/wrist1.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.135"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/wrist1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.18"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.00568162272735" ixy="0.0" ixz="0.0" iyy="0.00568162272735" iyz="0.0" izz="0.00613125"/>
    </inertial>
  </link>

  <link name="wrist_2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.12"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/wrist2.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.12"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/wrist2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.033"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0052985041306" ixy="0.0" ixz="0.0" iyy="0.0052985041306" iyz="0.0" izz="0.0057178125"/>
    </inertial>
  </link>

  <link name="wrist_3_link">
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.1168"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/wrist3.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.1168"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/wrist3.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.907"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.025"/>
      <inertia ixx="0.000648126824083" ixy="0.0" ixz="0.0" iyy="0.000648126824083" iyz="0.0" izz="0.0009183375"/>
    </inertial>
  </link>

  <!--考虑 删除 或 修改-->
  <link name="ee_link">
    <collision>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
    </collision>
  </link>

  <joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <origin rpy="0 0 0" xyz="0 0 0.1807"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>


  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  
  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <origin rpy="0 0 0" xyz="-0.4784 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  
  <joint name="wrist_1_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_1_link"/>
    <origin rpy="0 0 0" xyz="-0.36 0 0.17415"/>
    <axis xyz="0 0 1"/>
    <limit effort="56.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

  

  <joint name="wrist_2_joint" type="revolute">
    <parent link="wrist_1_link"/>
    <child link="wrist_2_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.45816459076e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="56.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

  
  <joint name="wrist_3_joint" type="revolute">
    <parent link="wrist_2_link"/>
    <child link="wrist_3_link"/>
    <origin rpy="1.57079632659 3.14159265359 3.14159265359" xyz="0 0.11655 -2.39048045935e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="56.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

  <!--考虑删除  末端负载-->
  <joint name="ee_fixed_joint" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="ee_link"/>
    <!-- <origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.117 0.0"/> -->
    <origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0 0.1371"/>
  </joint>

  <!-- ROS base_link to UR 'Base' Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base_fixed_joint" type="fixed">
    <!-- NOTE: this rotation is only needed as long as base_link itself is
                 not corrected wrt the real robot (ie: rotated over 180
                 degrees)
      -->
    <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <!-- Frame coincident with all-zeros TCP on UR controller -->
  <link name="tool0"/>
  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
    <!-- <origin rpy="-1.57079632679 0 0" xyz="0 0.117 0"/> -->
    <origin rpy="-1.57079632679 0 0" xyz="0.0 0.0 0.1371"/>
    <parent link="wrist_3_link"/>
    <child link="tool0"/>
  </joint>
  <link name="world"/>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>

  <transmission name="shoulder_pan_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_pan_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_pan_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="shoulder_lift_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_lift_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_lift_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="elbow_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="elbow_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="elbow_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_1_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_2_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_2_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_3_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_3_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="ros_control">
    </plugin>
  </gazebo>
  <gazebo reference="shoulder_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="upper_arm_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="forearm_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="wrist_1_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="wrist_3_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="wrist_2_link">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="ee_link">
    <selfCollide>true</selfCollide>
  </gazebo>
</robot>

which matlab version and robot tool box version do you use

ttributeError: 'SLSQP' object has no attribute 'h_start'

When I run the function main.m, the following error occurred

Hello! When I run the function main.m, the following error occurred. Could you please tell me how to solve it? Looking forward to your reply.
错误使用 - (line 44)
Adding NaN to an SDPVAR makes no sense.

出错 estimate_dynamic_params>physicallyConsistentEstimation (line 157)
obj = norm(Tau - Wb*[pi_b; pi_frctn]);

出错 estimate_dynamic_params (line 49)
[sol.pi_b, sol.pi_fr, sol.pi_s] =
physicallyConsistentEstimation(Tau, Wb, baseQR);

出错 main (line 40)
sol = estimate_dynamic_params(path_to_est_data, idxs, ...

Could you tell me which book or article do you reference about the physical feasibility?

How to convert from base parameter to full parameter

in this code , just estimate the base parameter is the linear combination of the independent parameters, but we need the full parameter, so I want to know how to convert from base parameters to full parameters

What was required in the original document ‘standard_regressor_UR10E’？

Hello! Is the file ‘standard_regressor_UR10E’ automatically generated from the toolbox? What would it have looked like in the initial state？Thanks！

A question about "generate_rb_dynamics.m"

Thanks for your work, it helps me a lot. Now, I have modified the code and hope it can be applied to any degree of freedom manipulator. First, I tried to apply it in a 7DOF manipulator, whose urdf file was generated by myself. I am currently facing two issues and would like to seek your advice

Regressor was generated by "generate_rb_regressor.m", when run "test_rb_inverse_dynamics.m", I found that the value of "norm(tau_matlab - tau_reg)" is about 0.003, bigger than 1e-08, does it reasonable?
When I run "experiment_design.m", the program has been running for about 14 hours and still hasn't ended. My cpu is "core i9 12900K". I think there may be some issues with the process of generating my regressor.
So ,can you help me, thank you a lot.

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