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Add support for UR7e and UR12e (#266)
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‎config/ur12e/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: 0.1807
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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: -0.6127
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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: -0.57155
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y: 0
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z: 0.17415
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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: -0.11985
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z: -2.458164590756244e-11
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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: 0.11655
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z: -2.390480459346185e-11
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roll: 1.570796326589793
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pitch: 3.141592653589793
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yaw: 3.141592653589793
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hash: calib_5119701370761913513

‎config/ur12e/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, UR10e, Version 5.8
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# https://s3-eu-west-1.amazonaws.com/ur-support-site/69139/99405_UR10e_User_Manual_en_Global.pdf
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# - Support > Articles > UR articles > Max. joint torques
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# https://www.universal-robots.com/articles/ur-articles/max-joint-torques
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# retrieved: 2020-06-16, last modified: 2020-06-09
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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: 330.0
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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: 330.0
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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: 150.0
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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 180.0
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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: 54.0
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max_position: !degrees 360.0
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max_velocity: !degrees 180.0
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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: 54.0
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max_position: !degrees 360.0
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max_velocity: !degrees 180.0
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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: 54.0
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max_position: !degrees 360.0
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max_velocity: !degrees 180.0
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min_position: !degrees -360.0

‎config/ur12e/physical_parameters.yaml‎

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# Physical parameters
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offsets:
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shoulder_offset: 0.1762 # measured from model
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elbow_offset: 0.0393 # measured from model
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inertia_parameters:
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base_mass: 4.0 # This mass might be incorrect
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shoulder_mass: 7.369
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upper_arm_mass: 13.051
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forearm_mass: 3.989
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wrist_1_mass: 2.1
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wrist_2_mass: 1.98
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wrist_3_mass: 0.615
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shoulder_radius: x0.060 # FROM UR5 DON'T USE
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upper_arm_radius: x0.054 # FROM UR5 DON'T USE
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elbow_radius: x0.060 # FROM UR5 DON'T USE
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forearm_radius: x0.040 # FROM UR5 DON'T USE
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wrist_radius: x0.045 # FROM UR5 DON'T USE
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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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# model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
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center_of_mass:
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shoulder_cog:
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x: 0.021 # model.x
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y: -0.027 # -model.z
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z: 0.0 # model.y
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upper_arm_cog:
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x: -0.2327 # model.x - upper_arm_length
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y: 0.0 # model.y
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z: 0.158 # model.z
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forearm_cog:
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x: -0.33155 # model.x - forearm_length
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y: 0.0 # model.y
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z: 0.068 # model.z
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wrist_1_cog:
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x: 0.0 # model.x
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y: -0.018 # -model.z
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z: 0.007 # model.y
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wrist_2_cog:
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x: 0.0 # model.x
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y: 0.018 # model.z
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z: -0.007 # -model.y
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wrist_3_cog:
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x: 0.0 # model.x
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y: 0.0 # model.y
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z: -0.026 # model.z
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rotation:
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shoulder:
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roll: 1.570796326794897
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pitch: 0
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yaw: 0
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upper_arm:
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roll: 0
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pitch: 0
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yaw: 0
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forearm:
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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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roll: 1.570796326794897
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pitch: 0
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yaw: 0
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wrist_2:
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roll: -1.570796326794897
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pitch: 0
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yaw: 0
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wrist_3:
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roll: 0
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pitch: 0
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yaw: 0
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tensor:
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shoulder:
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ixx: 0.03408
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ixy: 0.00002
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ixz: -0.00425
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iyy: 0.03529
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iyz: 0.00008
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izz: 0.02156
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upper_arm:
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ixx: 0.02814
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ixy: 0.00005
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ixz: -0.01561
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iyy: 0.77068
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iyz: 0.00002
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izz: 0.76943
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forearm:
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ixx: 0.01014
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ixy: 0.00008
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ixz: 0.00916
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iyy: 0.30928
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iyz: 0.0
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izz: 0.30646
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wrist_1:
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ixx: 0.00296
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ixy: -0.00001
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ixz: 0.0
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iyy: 0.00222
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iyz: -0.00024
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izz: 0.00258
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wrist_2:
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ixx: 0.00296
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ixy: -0.00001
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ixz: 0.0
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iyy: 0.00222
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iyz: -0.00024
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izz: 0.00258
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wrist_3:
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ixx: 0.00040
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ixy: 0.0
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ixz: 0.0
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iyy: 0.00041
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iyz: 0.0
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izz: 0.00034

‎config/ur12e/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/ur10e/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/ur10e/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/ur10e/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/ur10e/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/ur10e/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/ur10e/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/ur10e/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/ur10e/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/ur10e/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/ur10e/collision/wrist1.stl
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visual_offset: -0.135
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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/ur10e/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/ur10e/collision/wrist2.stl
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visual_offset: -0.12
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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/ur10e/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/ur10e/collision/wrist3.stl
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visual_offset: -0.1168

‎config/ur7e/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: 0.1625
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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: -0.425
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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: -0.3922
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y: 0
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z: 0.1333
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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: -0.0997
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z: -2.044881182297852e-11
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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: 0.09959999999999999
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z: -2.042830148012698e-11
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roll: 1.570796326589793
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pitch: 3.141592653589793
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yaw: 3.141592653589793
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hash: calib_12788084448423163542

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