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RobertWilbrandt
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Add UR30 model (#142)
* Added UR30 meshes * Add UR30 model * Fix ends of files --------- Co-authored-by: Robert Wilbrandt <[email protected]>
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‎.pre-commit-config.yaml‎

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#
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# See https://github.com/pre-commit/pre-commit
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# This need to be a one to one copy from the Universal Robots legal no matter trailing spaces or not
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exclude: 'meshes/ur20/LICENSE.txt'
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repos:
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# Standard hooks
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- id: debug-statements
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- id: end-of-file-fixer
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- id: mixed-line-ending
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- id: trailing-whitespace
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- id: check-byte-order-marker # Forbid UTF-8 byte-order markers
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- id: trailing-whitespace
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# This need to be a one to one copy from the Universal Robots legal no matter trailing spaces or not
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exclude: |
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(?x)^(
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meshes/ur20/LICENSE.txt|
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meshes/ur30/LICENSE.txt
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)$
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# Python hooks
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- repo: https://github.com/asottile/pyupgrade

‎README.md‎

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not clone this repository into a Foxy workspace.
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## License
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The [UR20 meshes](ur_description/meshes/ur20) constitutes “Graphical Documentation” the use of which is subject to and governed by our “[Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt)”.\
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If you have any questions regarding the license or the license doesn't fit you use-case, please contact [[email protected]](mailto:[email protected]).
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The [UR20 meshes](ur_description/meshes/ur20) and [UR30 meshes](ur_description/meshes/ur30) constitutes “Graphical Documentation” the use of which is subject to and governed by our “[Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt)”.
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Universal Robots' [Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt) do not fully comply with [OSI's definition of Open Source](https://opensource.org/osd/), but they do allow you to use, modify and share “Graphical Documentation”, including [UR20](meshes/ur20) and [UR30](meshes/ur30) meshes, subject to certain restrictions.\
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If you have any questions regarding this license or if this license doesn't fit your use-case, please contact [[email protected]](mailto:[email protected]).
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All other content is licensed under the BSD-3-Clause license
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‎config/ur30/default_kinematics.yaml‎

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kinematics:
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shoulder:
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x: 0
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y: 0
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z: 0.23630000000000001
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roll: -0
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pitch: 0
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yaw: -0
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upper_arm:
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x: 0
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y: 0
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z: 0
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roll: 1.570796327
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pitch: 0
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yaw: -0
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forearm:
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x: -0.637
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y: 0
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z: 0
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roll: -0
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pitch: 0
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yaw: -0
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wrist_1:
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x: -0.5037
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y: 0
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z: 0.20100000000000001
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roll: -0
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pitch: 0
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yaw: -0
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wrist_2:
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x: 0
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y: -0.1593
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z: 0
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roll: 1.570796327
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pitch: 0
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yaw: -0
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wrist_3:
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x: 0
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y: 0.15429999999999999
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z: -3.1647459019915597e-11
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roll: 1.5707963265897931
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pitch: 3.1415926535897931
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yaw: 3.1415926535897931
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hash: calib_4890363623803256388

‎config/ur30/joint_limits.yaml‎

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# Joints limits
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#
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# Sources:
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#
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# - Universal Robots e-Series, User Manual, UR20, Version 5.14
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# https://s3-eu-west-1.amazonaws.com/ur-support-site/203281/706-276-00_UR20_User_Manual_en_Global.pdf
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joint_limits:
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shoulder_pan_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 730.0
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max_position: !degrees 360.0
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max_velocity: !degrees 120.0
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min_position: !degrees -360.0
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shoulder_lift_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 730.0
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max_position: !degrees 360.0
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max_velocity: !degrees 120.0
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min_position: !degrees -360.0
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elbow_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 430.0
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# we artificially limit this joint to half its actual joint position limit
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# to avoid (MoveIt/OMPL) planning problems, as due to the physical
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# construction of the robot, it's impossible to rotate the 'elbow_joint'
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# over more than approx +- 1 pi (the shoulder lift joint gets in the way).
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#
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# This leads to planning problems as the search space will be divided into
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# two sections, with no connections from one to the other.
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#
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# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
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# more information.
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max_position: !degrees 180.0
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max_velocity: !degrees 150.0
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min_position: !degrees -180.0
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wrist_1_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 100.0
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max_position: !degrees 360.0
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max_velocity: !degrees 210.0
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min_position: !degrees -360.0
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wrist_2_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 100.0
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max_position: !degrees 360.0
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max_velocity: !degrees 210.0
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min_position: !degrees -360.0
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wrist_3_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 100.0
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max_position: !degrees 360.0
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max_velocity: !degrees 210.0
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min_position: !degrees -360.0

‎config/ur30/physical_parameters.yaml‎

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# Physical parameters
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# from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/
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dh_parameters:
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d1: 0.2363
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a2: -0.8620
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a3: -0.7287
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d4: 0.201
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d5: 0.1593
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d6: 0.1543
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offsets:
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shoulder_offset: 0.260 # measured from model
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elbow_offset: 0.043 # measured from model
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inertia_parameters:
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# taken from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/
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base_mass: 4.0 # This mass might be incorrect
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shoulder_mass: 16.343
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upper_arm_mass: 29.632
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upper_arm_inertia_offset: 0.275 # measured from model
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forearm_mass: 7.879
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wrist_1_mass: 3.054
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wrist_2_mass: 3.126
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wrist_3_mass: 0.846
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shoulder_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE
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upper_arm_radius: x0.054 # FROM UR5 CURRENTLY NOT USED ANYMORE
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elbow_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE
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forearm_radius: x0.040 # FROM UR5 CURRENTLY NOT USED ANYMORE
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wrist_radius: x0.045 # FROM UR5 CURRENTLY NOT USED ANYMORE
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links:
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base:
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radius: 0.075
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length: 0.038
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shoulder:
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radius: 0.075
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length: 0.178
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upperarm:
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radius: 0.075
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length: 0.637
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forearm:
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radius: 0.075
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length: 0.5037
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wrist_1:
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radius: 0.075
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length: 0.12
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wrist_2:
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radius: 0.075
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length: 0.12
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wrist_3:
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radius: 0.045
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length: 0.05
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center_of_mass: # Adjusted manually
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shoulder_cog:
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x: 0.0
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y: 0.00244
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z: -0.037
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upper_arm_cog:
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x: 0.00001
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y: 0.15061
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z: 0.40757
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forearm_cog:
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x: -0.00012
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y: 0.06112
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z: 0.2084
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wrist_1_cog:
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x: -0.00021
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y: -0.00112
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z: 0.02269
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wrist_2_cog:
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x: -0.00021
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y: 0.00112
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z: 0.002269
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wrist_3_cog:
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x: 0.0
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y: -0.001156
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z: -0.00149

‎config/ur30/visual_parameters.yaml‎

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# Visualisation
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mesh_files:
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base:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur20/visual/base.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur20/collision/base.stl
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shoulder:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur20/visual/shoulder.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur20/collision/shoulder.stl
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upper_arm:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur30/visual/upperarm.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur30/collision/upperarm.stl
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mesh_files:
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forearm:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur30/visual/forearm.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur30/collision/forearm.stl
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wrist_1:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur20/visual/wrist1.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur20/collision/wrist1.stl
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visual_offset: -0.0775
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wrist_2:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur20/visual/wrist2.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur20/collision/wrist2.stl
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visual_offset: -0.0749
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wrist_3:
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visual:
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mesh:
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package: ur_description
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path: meshes/ur20/visual/wrist3.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: ur_description
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path: meshes/ur20/collision/wrist3.stl
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visual_offset: -0.07

‎launch/view_ur.launch.py‎

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DeclareLaunchArgument(
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"ur_type",
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description="Type/series of used UR robot.",
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choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
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choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20", "ur30"],
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)
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)
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declared_arguments.append(

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