From 402a7ad15e39cde1d2317fbc2bbffcbd9d24de2b Mon Sep 17 00:00:00 2001
From: chloeoh0323 <COh@calvaryrobotics.com>
Date: Wed, 8 Jan 2025 14:10:31 -0500
Subject: [PATCH] update mass of each link of the upper robot

---
 .../urdf/kr150_r3100-2_macro.xacro              | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/kuka_quantec_support/urdf/kr150_r3100-2_macro.xacro b/kuka_quantec_support/urdf/kr150_r3100-2_macro.xacro
index 0fe3316..a20e350 100755
--- a/kuka_quantec_support/urdf/kr150_r3100-2_macro.xacro
+++ b/kuka_quantec_support/urdf/kr150_r3100-2_macro.xacro
@@ -20,7 +20,7 @@
           xyz="-0.115421555467715 -0.000330595882673622 -0.115154399693169"
           rpy="0 0 0" />
         <mass
-          value="68.6894711935304" />
+          value="225.96" />
         <inertia
           ixx="1.59288288315705"
           ixy="-0.00857728215653816"
@@ -49,7 +49,7 @@
           xyz="-0.0300993491977468 0.00440682294423698 0.226585385452563"
           rpy="0 0 0" />
         <mass
-          value="538.243135185859" />
+          value="363.07" />
         <inertia
           ixx="17.4018848514033"
           ixy="-2.72713228304293"
@@ -78,7 +78,7 @@
           xyz="0.0014866304491481 -0.231162108253591 0.53567616612031"
           rpy="0 0 0" />
         <mass
-          value="98.6948057383533" />
+          value="250.56" />
         <inertia
           ixx="25.4911026878664"
           ixy="0.00138196056338635"
@@ -107,7 +107,7 @@
           xyz="0.476693506821161 -0.00682834569486889 0.113850335656908"
           rpy="0 0 0" />
         <mass
-          value="55.6734429051587" />
+          value="199.33" />
         <inertia
           ixx="0.523340228220347"
           ixy="-0.137290622803662"
@@ -136,7 +136,10 @@
           xyz="0.264556498733331 0.00449049502473819 -5.69229202929122E-06"
           rpy="0 0 0" />
         <mass
-          value="5.05324909982442" />
+          value="26.7813904924" />
+          
+          <!-- Combined weight for link 4, 5, and 6 -->
+          <!-- value="66.004" /> -->
         <inertia
           ixx="0.0124472224173345"
           ixy="-0.00404913466383747"
@@ -165,7 +168,7 @@
           xyz="0.051781380949695 0.0339683800089534 -4.5558814905089E-05"
           rpy="0 0 0" />
         <mass
-          value="6.82178229278099" />
+          value="36.1543260245" />
         <inertia
           ixx="0.0610153560658275"
           ixy="0.0150333999904786"
@@ -194,7 +197,7 @@
           xyz="0.0718584618684783 -7.29837791846322E-06 5.01882450902047E-05"
           rpy="0 0 0" />
         <mass
-          value="0.578939347757632" />
+          value="3.06828348177" />
         <inertia
           ixx="0.00138341105390943"
           ixy="6.21885456055075E-08"