Help Needed with Modifying UR5e Robot in Webots for Bachelor Thesis

[niklas030]

Hello everyone,

I'm currently working on my bachelor's thesis, and I'm using Webots to implement Gaussian regression to enhance the accuracy of robots. Specifically, I'm working with the UR5e robot, and I need to make some modifications to its length, orientation, of the links and add backlash to improve its performance.

So far, I've tried changing the translation in the pronto file, but it doesn't seem to have any effect on the position of the end effector. I'm wondering if anyone here has experience with making these kinds of modifications in Webots, particularly for the UR5e robot or any other industry robot.

Could you please provide guidance on how I can effectively change the robot's length, orientation, and add backlash to it within Webots? Any advice, tips, or resources would be greatly appreciated.

Thank you in advance for your help!

Best regards,
Niklas