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Add support for UR15 (#288)
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‎.pre-commit-config.yaml‎

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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/ur15/LICENSE.txt|
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meshes/ur20/LICENSE.txt|
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meshes/ur30/LICENSE.txt
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)$

‎README.md‎

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## License
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The [UR20 meshes](meshes/ur20) and [UR30 meshes](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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The [UR15 meshes](meshes/ur15), [UR20 meshes](meshes/ur20) and [UR30 meshes](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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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 [UR15 meshes](meshes/ur15), [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

‎config/ur15/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: 0.21859999999999999
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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: -0.64749999999999996
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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: -0.51639999999999997
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y: 0
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z: 0.18240000000000001
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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: -0.1361
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z: -2.7914576620936571e-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: 0.1434
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z: -2.941183164909849e-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_16739373764049705779

‎config/ur15/joint_limits.yaml‎

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---
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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: 433.0
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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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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: 433.0
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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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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: 204.0
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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 240.0
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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: 70.0
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max_position: !degrees 360.0
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max_velocity: !degrees 300.0
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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: 70.0
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max_position: !degrees 360.0
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max_velocity: !degrees 300.0
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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: 70.0
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max_position: !degrees 360.0
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max_velocity: !degrees 300.0
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min_position: !degrees -360.0

‎config/ur15/physical_parameters.yaml‎

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---
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# Physical parameters
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offsets:
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shoulder_offset: 0.100 # measured from model
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elbow_offset: 0.125 # 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: 9.9883
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upper_arm_mass: 14.9255
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forearm_mass: 6.1015
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wrist_1_mass: 2.089
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wrist_2_mass: 2.0869
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wrist_3_mass: 1.0666
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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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# used to approximate the inertia tensor of the fixed base using a cylinder approximation. This
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# is only relevant if the robot's base is moving e.g. when it's mounted on a mobile platform.
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links:
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base:
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radius: 0.17
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length: 0.1
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center_of_mass:
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shoulder_cog:
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x: 0.000024 # model.x
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y: -0.025304 # -model.z
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z: -0.033309 # model.y
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upper_arm_cog:
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x: -0.228491 # model.x - upperarm_length
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y: -0.000083 # model.y
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z: 0.192787 # model.z
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forearm_cog:
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x: -0.210929 # model.x - forearm_length
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y: 0.000019 # model.y
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z: 0.070552 # model.z
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wrist_1_cog:
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x: 0.000025 # model.x
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y: -0.016413 # -model.z
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z: -0.019695 # model.y
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wrist_2_cog:
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x: 0.000025 # model.x
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y: 0.015886 # model.z
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z: -0.019960 # -model.y
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wrist_3_cog:
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x: -0.000018 # model.x
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y: -0.000112 # model.y
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z: -0.053397 # 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: 0.051334
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ixy: 0.000025
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ixz: -0.000016
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iyy: 0.047702
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iyz: 0.008805
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izz: 0.034263
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upper_arm:
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ixx: 0.048202
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ixy: 0.000232
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ixz: -0.032135
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iyy: 1.188499
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iyz: -0.000017
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izz: 1.182771
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forearm:
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ixx: 0.018481
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ixy: -0.000005
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ixz: 0.013601
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iyy: 0.303502
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iyz: 0.000003
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izz: 0.296843
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wrist_1:
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ixx: 0.004339
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ixy: 0.000019
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ixz: 0.000001
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iyy: 0.002548
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iyz: 0.000706
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izz: 0.003912
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wrist_2:
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ixx: 0.004288
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ixy: 0.000017
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ixz: -0.000003
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iyy: 0.002566
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iyz: -0.000716
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izz: 0.003927
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wrist_3:
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ixx: 0.001406
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ixy: -0.000003
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ixz: 0.000010
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iyy: 0.001404
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iyz: -0.000024
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izz: 0.001002

‎config/ur15/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/ur15/visual/base.dae
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collision:
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mesh:
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package: ur_description
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path: meshes/ur15/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/ur15/visual/shoulder.dae
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collision:
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mesh:
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package: ur_description
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path: meshes/ur15/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/ur15/visual/upperarm.dae
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collision:
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mesh:
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package: ur_description
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path: meshes/ur15/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/ur15/visual/forearm.dae
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collision:
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mesh:
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package: ur_description
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path: meshes/ur15/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/ur15/visual/wrist1.dae
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collision:
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mesh:
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package: ur_description
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path: meshes/ur15/collision/wrist1.stl
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visual_offset: -0.0502
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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/ur15/visual/wrist2.dae
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collision:
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mesh:
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package: ur_description
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path: meshes/ur15/collision/wrist2.stl
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visual_offset: -0.064
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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/ur15/visual/wrist3.dae
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collision:
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mesh:
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package: ur_description
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path: meshes/ur15/collision/wrist3.stl
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visual_offset: -0.0715

‎launch/view_ur.launch.py‎

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"ur10e",
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"ur12e",
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"ur16e",
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"ur15",
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"ur20",
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"ur30",
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],

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