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UR20 description and meshes (#94)
The UR20 meshes are added under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation
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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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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.4.0
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hooks:
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- id: check-added-large-files
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args: ['--maxkb=1500']
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- id: check-ast
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- id: check-case-conflict
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- id: check-docstring-first

‎README.md‎

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@@ -19,6 +19,12 @@ Note that for ROS2 **Foxy** the description is in the [driver's
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repository](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy). Please do
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not clone this repository into a Foxy workspace.
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## License
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The majority of this repository is licensed under the BSD-3-Clause license. However, the **UR20
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meshes** are licensed under Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation. See the separate
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[LICENSE.txt](/meshes/ur20/LICENSE.txt) file for details. If you have any questions regarding the
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license or the license doesn't fit you use-case, please contact [[email protected]](mailto:[email protected]).
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## Structure of the repository
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The most relevant files are:

‎config/ur20/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: -0.86199999999999999
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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: -0.72870000000000001
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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: -3.2672976162492252e-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: 0.15429999999999999
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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/ur20/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, UR16e, Version 5.8
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# https://s3-eu-west-1.amazonaws.com/ur-support-site/69187/99473_UR16e_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 130.0
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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 130.0
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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 160.0
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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: 56.0
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max_position: !degrees 360.0
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max_velocity: !degrees 220.0
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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: 56.0
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max_position: !degrees 360.0
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max_velocity: !degrees 220.0
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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: 56.0
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max_position: !degrees 360.0
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max_velocity: !degrees 220.0
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min_position: !degrees -360.0

‎config/ur20/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: 0.852
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forearm:
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radius: 0.075
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length: 0.7287
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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: 0.48757
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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: 0.2984
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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/ur20/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/ur20/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/ur20/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/ur20/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/ur20/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"],
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choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
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)
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)
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# TODO(anyone): enable this when added into ROS2-foxy
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# choices=['ur3', 'ur3e', 'ur5', 'ur5e', 'ur10', 'ur10e', 'ur16e']))
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declared_arguments.append(
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DeclareLaunchArgument(
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"safety_limits",

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