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Add ROS1-like configuration, launch, urdf and mesh files.
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‎ur5_moveit_config/launch/run_move_group.launch.py‎

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@@ -73,7 +73,7 @@ def generate_launch_description():
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planning_scene_monitor_parameters])
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# RViz
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rviz_config_file = get_package_share_directory('ur_description') + "/config/view_robot.rviz"
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rviz_config_file = get_package_share_directory('ur_description') + "/cfg/view_robot.rviz"
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rviz_node = Node(package='rviz2',
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executable='rviz2',
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name='rviz2',

‎ur_description/config/view_robot.rviz‎ renamed to ‎ur_description/cfg/view_robot.rviz‎

File renamed without changes.

‎ur_description/config/ur10/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: 0.1273
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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: -0.612
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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: -0.5723
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y: 0
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z: 0.163941
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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: -0.1157
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z: -2.373046667922381e-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: 0.0922
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z: -1.891053610911353e-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_17227329492635474227
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‎ur_description/config/ur10/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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# - UR10 User Manual, Universal Robots, UR10/CB3, Version 3.13
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# https://s3-eu-west-1.amazonaws.com/ur-support-site/69442/99203_UR10_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:
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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:
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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:
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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 180.0
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min_position: !degrees -360.0
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wrist_2:
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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 180.0
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min_position: !degrees -360.0
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wrist_3:
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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 180.0
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min_position: !degrees -360.0

‎ur_description/config/ur10/physical_parameters.yaml‎

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# Physical parameters
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dh_parameters:
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d1: 0.1273
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a2: -0.612
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a3: -0.5723
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d4: 0.163941
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d5: 0.1157
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d6: 0.0922
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offsets:
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shoulder_offset: 0.220941 # measured from model
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elbow_offset: 0.049042 # 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: 7.778
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upper_arm_mass: 12.93
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upper_arm_inertia_offset: 0.175
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forearm_mass: 3.87
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wrist_1_mass: 1.96
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wrist_2_mass: 1.96
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wrist_3_mass: 0.202
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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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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: 0.612
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forearm:
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radius: 0.075
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length: 0.5723
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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: 0.09
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wrist_3:
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radius: 0.045
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length: 0.0305
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center_of_mass:
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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: 0.38757
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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: 0.1984
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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

‎ur_description/config/ur10/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: "package://ur_description/meshes/ur10/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: "package://ur_description/meshes/ur10/collision/base.stl"
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shoulder:
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visual:
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mesh: "package://ur_description/meshes/ur10/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: "package://ur_description/meshes/ur10/collision/shoulder.stl"
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upper_arm:
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visual:
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mesh: "package://ur_description/meshes/ur10/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: "package://ur_description/meshes/ur10/collision/upperarm.stl"
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mesh_files:
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forearm:
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visual:
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mesh: "package://ur_description/meshes/ur10/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: "package://ur_description/meshes/ur10/collision/forearm.stl"
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wrist_1:
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visual:
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mesh: "package://ur_description/meshes/ur10/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: "package://ur_description/meshes/ur10/collision/wrist1.stl"
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visual_offset: -0.1149
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wrist_2:
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visual:
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mesh: "package://ur_description/meshes/ur10/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: "package://ur_description/meshes/ur10/collision/wrist2.stl"
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visual_offset: -0.1158
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wrist_3:
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visual:
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mesh: "package://ur_description/meshes/ur10/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: "package://ur_description/meshes/ur10/collision/wrist3.stl"
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visual_offset: -0.0922

‎ur_description/config/ur10e/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

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