Felix Exner (fexner)

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Given the files you posted, you seem to not be using ur_robot_driver with the melodic-devel-staging branch, but you seem to use ur_modern_driver. I'd recommend not using ur_modern_driver unless you have...

> > This PR sets them to the place where they are supposed to be according to [UR's documentation](https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/) > > So where are the origins supposed to be (I...

I could definitely work on that, yes. I've talked back to the guys at UR and it seems that the inertias are only set for the UR10 and UR16 as...

> the inertia matrices of UR3 and UR5 can be left as they are, but we should add the exact inertia matrices extracted from URSim to UR10, UR16. I'm not...

> @fmauch: should we not try to use the official nrs as much as possible? I'm just not sure if they reflect the same physical parameters. As far as I...

I've updated this PR to define the full inertia matrix. This allows us to either use the values coming from UR directly or inserting the ones from the cylinder approximation....

It looks like this: 

Just for reference: With the cylinder approximations used it looks like this: 

I'll go ahead and implement the cog and full inertia matrix for all variants. We can decide on the inertia content later, as well.