diff --git a/.github/workflows/ci_bionic.yml b/.github/workflows/ci_bionic.yml deleted file mode 100644 index 1889dcc9b..000000000 --- a/.github/workflows/ci_bionic.yml +++ /dev/null @@ -1,46 +0,0 @@ -name: CI - Ubuntu Bionic - -on: - # direct pushes to protected branches are not supported - pull_request: - # run every day, at 7am UTC - schedule: - - cron: '0 7 * * *' - # allow manually starting this workflow - workflow_dispatch: - -jobs: - industrial_ci: - name: ROS Melodic (${{ matrix.ros_repo }}) - runs-on: ubuntu-20.04 - - strategy: - fail-fast: false - matrix: - ros_distro: [ melodic ] - ros_repo: [ main, testing ] - - env: - CCACHE_DIR: "${{ github.workspace }}/.ccache" - - steps: - - name: Fetch repository - uses: actions/checkout@v3 - - - name: ccache cache - uses: actions/cache@v3 - with: - path: ${{ env.CCACHE_DIR }} - # we always want the ccache cache to be persisted, as we cannot easily - # determine whether dependencies have changed, and ccache will manage - # updating the cache for us. Adding 'run_id' to the key will force an - # upload at the end of the job. - key: ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}-${{github.run_id}} - restore-keys: | - ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }} - - - name: Run industrial_ci - uses: ros-industrial/industrial_ci@master - env: - ROS_DISTRO: ${{ matrix.ros_distro }} - ROS_REPO: ${{ matrix.ros_repo }} diff --git a/.github/workflows/ci_focal.yml b/.github/workflows/ci_noetic.yml similarity index 88% rename from .github/workflows/ci_focal.yml rename to .github/workflows/ci_noetic.yml index 5a5fd658b..024664189 100644 --- a/.github/workflows/ci_focal.yml +++ b/.github/workflows/ci_noetic.yml @@ -1,4 +1,4 @@ -name: CI - Ubuntu Focal +name: CI - ROS Noetic on: # direct pushes to protected branches are not supported @@ -12,7 +12,7 @@ on: jobs: industrial_ci: name: ROS Noetic (${{ matrix.ros_repo }}) - runs-on: ubuntu-20.04 + runs-on: ubuntu-24.04 # the ICI job itself will be running in a container. strategy: fail-fast: false @@ -25,10 +25,10 @@ jobs: steps: - name: Fetch repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: ccache cache - uses: actions/cache@v3 + uses: actions/cache@v4 with: path: ${{ env.CCACHE_DIR }} # we always want the ccache cache to be persisted, as we cannot easily diff --git a/README.md b/README.md index 2d8ab174d..413777df7 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,6 @@ # Universal Robot -[![Build Status: Ubuntu Bionic (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Bionic/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Bionic%22) -[![Build Status: Ubuntu Focal (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20Ubuntu%20Focal/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22) +[![Build Status: ROS Noetic (Actions)](https://github.com/ros-industrial/universal_robot/workflows/CI%20-%20ROS%20Noetic/badge.svg?branch=noetic-devel)](https://github.com/ros-industrial/universal_robot/actions?query=workflow%3A%22CI+-+ROS+Noetic%22) [![License - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0) [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause) diff --git a/universal_robots/CHANGELOG.rst b/universal_robots/CHANGELOG.rst index 13a15e016..a11fa0996 100644 --- a/universal_robots/CHANGELOG.rst +++ b/universal_robots/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package universal_robots ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add support for UR15 (`#702 `_) +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ +* Add moveit configs for ur7e and ur12e to metapackage (`#693 `_) +* Contributors: Felix Exner + 1.3.3 (2024-04-08) ------------------ * UR30 description and meshes (`#674 `_) diff --git a/universal_robots/LICENSE b/universal_robots/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/universal_robots/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/universal_robots/package.xml b/universal_robots/package.xml index 8920c5792..4c0b07dce 100644 --- a/universal_robots/package.xml +++ b/universal_robots/package.xml @@ -2,7 +2,7 @@ universal_robots - 1.3.3 + 1.5.0 ROS-Industrial support for Universal Robots manipulators (metapackage). Felix Messmer Kelsey Hawkins @@ -22,13 +22,16 @@ ur10e_moveit_config ur10_moveit_config + ur12e_moveit_config ur16e_moveit_config + ur15_moveit_config ur20_moveit_config ur30_moveit_config ur3e_moveit_config ur3_moveit_config ur5e_moveit_config ur5_moveit_config + ur7e_moveit_config ur_description ur_gazebo diff --git a/ur10_moveit_config/CHANGELOG.rst b/ur10_moveit_config/CHANGELOG.rst index dd674846b..5fb90a122 100644 --- a/ur10_moveit_config/CHANGELOG.rst +++ b/ur10_moveit_config/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur10_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ diff --git a/ur10_moveit_config/LICENSE b/ur10_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur10_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur10_moveit_config/config/kinematics.yaml b/ur10_moveit_config/config/kinematics.yaml index 416120d9b..b52eea65b 100644 --- a/ur10_moveit_config/config/kinematics.yaml +++ b/ur10_moveit_config/config/kinematics.yaml @@ -3,7 +3,8 @@ # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 manipulator: - kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin - solve_type: Distance + kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 + kinematics_solver_timeout: 0.02 + minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur10_moveit_config/package.xml b/ur10_moveit_config/package.xml index 8ed219474..ee41285f8 100644 --- a/ur10_moveit_config/package.xml +++ b/ur10_moveit_config/package.xml @@ -2,7 +2,7 @@ ur10_moveit_config - 1.3.3 + 1.5.0 An automatically generated package with all the configuration and launch files for using the ur10 with the MoveIt Motion Planning Framework diff --git a/ur10e_moveit_config/CHANGELOG.rst b/ur10e_moveit_config/CHANGELOG.rst index a24855d4d..623012dfd 100644 --- a/ur10e_moveit_config/CHANGELOG.rst +++ b/ur10e_moveit_config/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur10e_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ diff --git a/ur10e_moveit_config/LICENSE b/ur10e_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur10e_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur10e_moveit_config/config/kinematics.yaml b/ur10e_moveit_config/config/kinematics.yaml index a6a30800c..6c2ac204d 100644 --- a/ur10e_moveit_config/config/kinematics.yaml +++ b/ur10e_moveit_config/config/kinematics.yaml @@ -5,5 +5,6 @@ manipulator: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 + kinematics_solver_timeout: 0.02 minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur10e_moveit_config/package.xml b/ur10e_moveit_config/package.xml index 406753a51..3ab284ae2 100644 --- a/ur10e_moveit_config/package.xml +++ b/ur10e_moveit_config/package.xml @@ -2,7 +2,7 @@ ur10e_moveit_config - 1.3.3 + 1.5.0 An automatically generated package with all the configuration and launch files for using the ur10e with the MoveIt Motion Planning Framework diff --git a/ur12e_moveit_config/.setup_assistant b/ur12e_moveit_config/.setup_assistant new file mode 100644 index 000000000..a709b9e48 --- /dev/null +++ b/ur12e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur12e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur12e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur12e_moveit_config/CHANGELOG.rst b/ur12e_moveit_config/CHANGELOG.rst new file mode 100644 index 000000000..82ae4fd01 --- /dev/null +++ b/ur12e_moveit_config/CHANGELOG.rst @@ -0,0 +1,64 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ur12e_moveit_config +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ +* Add support for ur7e and ur12e (`#692 `_) +* Contributors: Felix Exner + +1.3.3 (2024-04-08) +------------------ + +1.3.2 (2023-12-18) +------------------ + +1.3.1 (2022-11-11) +------------------ + +1.3.0 (2022-11-10) +------------------ + +1.2.5 (2019-04-05) +------------------ + +1.2.1 (2018-01-06) +------------------ + +1.2.0 (2017-08-04) +------------------ + +1.1.9 (2017-01-02) +------------------ + +1.1.8 (2016-12-30) +------------------ + +1.1.7 (2016-12-29) +------------------ + +1.1.6 (2016-04-01) +------------------ + +1.1.5 (2014-11-03) +------------------ + +1.0.4 (2014-09-04) +------------------ + +1.0.3 (2014-08-25) +------------------ + +1.0.2 (2014-03-31 15:55) +------------------------ + +1.0.1 (2014-03-31 11:03) +------------------------ + +1.0.0 (2014-03-24) +------------------ diff --git a/ur12e_moveit_config/CMakeLists.txt b/ur12e_moveit_config/CMakeLists.txt new file mode 100644 index 000000000..03fa930c3 --- /dev/null +++ b/ur12e_moveit_config/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ur12e_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(tests/moveit_planning_execution.xml) +endif() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur12e_moveit_config/LICENSE b/ur12e_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur12e_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur12e_moveit_config/config/chomp_planning.yaml b/ur12e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur12e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur12e_moveit_config/config/fake_controllers.yaml b/ur12e_moveit_config/config/fake_controllers.yaml new file mode 100644 index 000000000..afbfa6e6c --- /dev/null +++ b/ur12e_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_manipulator_controller + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur12e_moveit_config/config/joint_limits.yaml b/ur12e_moveit_config/config/joint_limits.yaml new file mode 100644 index 000000000..633b7bbce --- /dev/null +++ b/ur12e_moveit_config/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + elbow_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 2.0943951023931953 + has_acceleration_limits: false + max_acceleration: 0 + wrist_1_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_2_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_3_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/ur12e_moveit_config/config/kinematics.yaml b/ur12e_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..6c2ac204d --- /dev/null +++ b/ur12e_moveit_config/config/kinematics.yaml @@ -0,0 +1,10 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR10eKinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +manipulator: + kinematics_solver: bio_ik/BioIKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.02 + minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur12e_moveit_config/config/ompl_planning.yaml b/ur12e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..39ba9f166 --- /dev/null +++ b/ur12e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,149 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + longest_valid_segment_fraction: 0.01 + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur12e_moveit_config/config/ros_controllers.yaml b/ur12e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur12e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur12e_moveit_config/config/ur12e.srdf b/ur12e_moveit_config/config/ur12e.srdf new file mode 100644 index 000000000..9ebe7a903 --- /dev/null +++ b/ur12e_moveit_config/config/ur12e.srdf @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur12e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..7baddfbcb --- /dev/null +++ b/ur12e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/default_warehouse_db.launch b/ur12e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..0e8c52967 --- /dev/null +++ b/ur12e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/demo.launch b/ur12e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..d7332a1af --- /dev/null +++ b/ur12e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur12e_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..4ba3975ae --- /dev/null +++ b/ur12e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ur12e_moveit_config/launch/move_group.launch b/ur12e_moveit_config/launch/move_group.launch new file mode 100644 index 000000000..d7f115467 --- /dev/null +++ b/ur12e_moveit_config/launch/move_group.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/moveit.rviz b/ur12e_moveit_config/launch/moveit.rviz new file mode 100644 index 000000000..cfc2fec04 --- /dev/null +++ b/ur12e_moveit_config/launch/moveit.rviz @@ -0,0 +1,280 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.996500015258789 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 783 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur12e_moveit_config/launch/moveit_planning_execution.launch b/ur12e_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 000000000..e57cf277b --- /dev/null +++ b/ur12e_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/moveit_rviz.launch b/ur12e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..d49c42ade --- /dev/null +++ b/ur12e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur12e_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 000000000..c33b106ad --- /dev/null +++ b/ur12e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/planning_context.launch b/ur12e_moveit_config/launch/planning_context.launch new file mode 100644 index 000000000..4b3639bb4 --- /dev/null +++ b/ur12e_moveit_config/launch/planning_context.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/planning_pipeline.launch.xml b/ur12e_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 000000000..947a36152 --- /dev/null +++ b/ur12e_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur12e_moveit_config/launch/run_benchmark_ompl.launch b/ur12e_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 000000000..8130baa93 --- /dev/null +++ b/ur12e_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/sensor_manager.launch.xml b/ur12e_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 000000000..75cdec64f --- /dev/null +++ b/ur12e_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/setup_assistant.launch b/ur12e_moveit_config/launch/setup_assistant.launch new file mode 100644 index 000000000..563cd16d9 --- /dev/null +++ b/ur12e_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/trajectory_execution.launch.xml b/ur12e_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 000000000..87c8f6732 --- /dev/null +++ b/ur12e_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/ur12e_moveit_controller_manager.launch.xml b/ur12e_moveit_config/launch/ur12e_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..33b633a22 --- /dev/null +++ b/ur12e_moveit_config/launch/ur12e_moveit_controller_manager.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/ur12e_moveit_config/launch/ur12e_moveit_sensor_manager.launch.xml b/ur12e_moveit_config/launch/ur12e_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur12e_moveit_config/launch/ur12e_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur12e_moveit_config/launch/warehouse.launch b/ur12e_moveit_config/launch/warehouse.launch new file mode 100644 index 000000000..c30efde66 --- /dev/null +++ b/ur12e_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/launch/warehouse_settings.launch.xml b/ur12e_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 000000000..e473b083b --- /dev/null +++ b/ur12e_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur12e_moveit_config/package.xml b/ur12e_moveit_config/package.xml new file mode 100644 index 000000000..116e29a0f --- /dev/null +++ b/ur12e_moveit_config/package.xml @@ -0,0 +1,41 @@ + + + + ur12e_moveit_config + 1.5.0 + + An automatically generated package with all the configuration and launch files for using the ur12e with the MoveIt Motion Planning Framework + + Felix Messmer + G.A. vd. Hoorn + Miguel Prada Sarasola + Nadia Hammoudeh Garcia + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager + moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant + moveit_simple_controller_manager + robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description + xacro + + roslaunch + catkin + + diff --git a/ur12e_moveit_config/tests/moveit_planning_execution.xml b/ur12e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..3536e3c40 --- /dev/null +++ b/ur12e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/.setup_assistant b/ur15_moveit_config/.setup_assistant new file mode 100644 index 000000000..5ba6b3c3c --- /dev/null +++ b/ur15_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur15.xacro + xacro_args: "" + SRDF: + relative_path: config/ur15.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur15_moveit_config/CHANGELOG.rst b/ur15_moveit_config/CHANGELOG.rst new file mode 100644 index 000000000..4e3bf82b7 --- /dev/null +++ b/ur15_moveit_config/CHANGELOG.rst @@ -0,0 +1,62 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ur15_moveit_config +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.5.0 (2025-05-13) +------------------ +* Add support for UR15 (`#702 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + +1.3.3 (2024-04-08) +------------------ + +1.3.2 (2023-12-18) +------------------ + +1.3.1 (2022-11-11) +------------------ + +1.3.0 (2022-11-10) +------------------ + +1.2.5 (2019-04-05) +------------------ + +1.2.1 (2018-01-06) +------------------ + +1.2.0 (2017-08-04) +------------------ + +1.1.9 (2017-01-02) +------------------ + +1.1.8 (2016-12-30) +------------------ + +1.1.7 (2016-12-29) +------------------ + +1.1.6 (2016-04-01) +------------------ + +1.1.5 (2014-11-03) +------------------ + +1.0.4 (2014-09-04) +------------------ + +1.0.3 (2014-08-25) +------------------ + +1.0.2 (2014-03-31 15:55) +------------------------ + +1.0.1 (2014-03-31 11:03) +------------------------ + +1.0.0 (2014-03-24) +------------------ diff --git a/ur15_moveit_config/CMakeLists.txt b/ur15_moveit_config/CMakeLists.txt new file mode 100644 index 000000000..22f9ca657 --- /dev/null +++ b/ur15_moveit_config/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ur15_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(tests/moveit_planning_execution.xml) +endif() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur15_moveit_config/LICENSE b/ur15_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur15_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur15_moveit_config/config/chomp_planning.yaml b/ur15_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur15_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur15_moveit_config/config/fake_controllers.yaml b/ur15_moveit_config/config/fake_controllers.yaml new file mode 100644 index 000000000..afbfa6e6c --- /dev/null +++ b/ur15_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_manipulator_controller + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur15_moveit_config/config/joint_limits.yaml b/ur15_moveit_config/config/joint_limits.yaml new file mode 100644 index 000000000..0220f245b --- /dev/null +++ b/ur15_moveit_config/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + elbow_joint: + has_velocity_limits: true + max_velocity: !degrees 120.0 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_lift_joint: + has_velocity_limits: true + max_velocity: !degrees 120.0 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: + has_velocity_limits: true + max_velocity: !degrees 150.0 + has_acceleration_limits: false + max_acceleration: 0 + wrist_1_joint: + has_velocity_limits: true + max_velocity: !degrees 210.0 + has_acceleration_limits: false + max_acceleration: 0 + wrist_2_joint: + has_velocity_limits: true + max_velocity: !degrees 210.0 + has_acceleration_limits: false + max_acceleration: 0 + wrist_3_joint: + has_velocity_limits: true + max_velocity: !degrees 210.0 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur15_moveit_config/config/kinematics.yaml b/ur15_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..8cf7b5007 --- /dev/null +++ b/ur15_moveit_config/config/kinematics.yaml @@ -0,0 +1,6 @@ +manipulator: + kinematics_solver: bio_ik/BioIKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.02 + minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur15_moveit_config/config/ompl_planning.yaml b/ur15_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..39ba9f166 --- /dev/null +++ b/ur15_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,149 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + longest_valid_segment_fraction: 0.01 + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur15_moveit_config/config/ros_controllers.yaml b/ur15_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur15_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur15_moveit_config/config/ur15.srdf b/ur15_moveit_config/config/ur15.srdf new file mode 100644 index 000000000..0929cbe8a --- /dev/null +++ b/ur15_moveit_config/config/ur15.srdf @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur15_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..102d815a9 --- /dev/null +++ b/ur15_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/default_warehouse_db.launch b/ur15_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..dfd4170c4 --- /dev/null +++ b/ur15_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/demo.launch b/ur15_moveit_config/launch/demo.launch new file mode 100644 index 000000000..5b85883d7 --- /dev/null +++ b/ur15_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur15_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..8a972975a --- /dev/null +++ b/ur15_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ur15_moveit_config/launch/move_group.launch b/ur15_moveit_config/launch/move_group.launch new file mode 100644 index 000000000..5e9c3c152 --- /dev/null +++ b/ur15_moveit_config/launch/move_group.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/moveit.rviz b/ur15_moveit_config/launch/moveit.rviz new file mode 100644 index 000000000..cfc2fec04 --- /dev/null +++ b/ur15_moveit_config/launch/moveit.rviz @@ -0,0 +1,280 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.996500015258789 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 783 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur15_moveit_config/launch/moveit_planning_execution.launch b/ur15_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 000000000..7ba77fc8c --- /dev/null +++ b/ur15_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/moveit_rviz.launch b/ur15_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..e91197345 --- /dev/null +++ b/ur15_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur15_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 000000000..825968eac --- /dev/null +++ b/ur15_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/planning_context.launch b/ur15_moveit_config/launch/planning_context.launch new file mode 100644 index 000000000..e6a73f1a8 --- /dev/null +++ b/ur15_moveit_config/launch/planning_context.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/planning_pipeline.launch.xml b/ur15_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 000000000..46a7da764 --- /dev/null +++ b/ur15_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur15_moveit_config/launch/run_benchmark_ompl.launch b/ur15_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 000000000..c1184cdc0 --- /dev/null +++ b/ur15_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/sensor_manager.launch.xml b/ur15_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 000000000..09354c97f --- /dev/null +++ b/ur15_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/setup_assistant.launch b/ur15_moveit_config/launch/setup_assistant.launch new file mode 100644 index 000000000..9bc9a5d66 --- /dev/null +++ b/ur15_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/trajectory_execution.launch.xml b/ur15_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 000000000..d51e98836 --- /dev/null +++ b/ur15_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/ur15_moveit_controller_manager.launch.xml b/ur15_moveit_config/launch/ur15_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..e198c7c00 --- /dev/null +++ b/ur15_moveit_config/launch/ur15_moveit_controller_manager.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/ur15_moveit_config/launch/ur15_moveit_sensor_manager.launch.xml b/ur15_moveit_config/launch/ur15_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur15_moveit_config/launch/ur15_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur15_moveit_config/launch/warehouse.launch b/ur15_moveit_config/launch/warehouse.launch new file mode 100644 index 000000000..fe745473d --- /dev/null +++ b/ur15_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/launch/warehouse_settings.launch.xml b/ur15_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 000000000..e473b083b --- /dev/null +++ b/ur15_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur15_moveit_config/package.xml b/ur15_moveit_config/package.xml new file mode 100644 index 000000000..8e905dfe6 --- /dev/null +++ b/ur15_moveit_config/package.xml @@ -0,0 +1,41 @@ + + + + ur15_moveit_config + 1.5.0 + + An automatically generated package with all the configuration and launch files for using the ur15 with the MoveIt Motion Planning Framework + + Felix Messmer + G.A. vd. Hoorn + Miguel Prada Sarasola + Nadia Hammoudeh Garcia + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager + moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant + moveit_simple_controller_manager + robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description + xacro + + roslaunch + catkin + + diff --git a/ur15_moveit_config/tests/moveit_planning_execution.xml b/ur15_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..6478c3382 --- /dev/null +++ b/ur15_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur16e_moveit_config/CHANGELOG.rst b/ur16e_moveit_config/CHANGELOG.rst index ae9da0dce..7e71b6ed5 100644 --- a/ur16e_moveit_config/CHANGELOG.rst +++ b/ur16e_moveit_config/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur16e_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ diff --git a/ur16e_moveit_config/LICENSE b/ur16e_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur16e_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur16e_moveit_config/config/kinematics.yaml b/ur16e_moveit_config/config/kinematics.yaml index c9a0ca2d5..b01783d74 100644 --- a/ur16e_moveit_config/config/kinematics.yaml +++ b/ur16e_moveit_config/config/kinematics.yaml @@ -3,7 +3,8 @@ # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 manipulator: - kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin - solve_type: Distance + kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 + kinematics_solver_timeout: 0.02 + minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur16e_moveit_config/package.xml b/ur16e_moveit_config/package.xml index 6eb319163..86b8cdb68 100644 --- a/ur16e_moveit_config/package.xml +++ b/ur16e_moveit_config/package.xml @@ -2,7 +2,7 @@ ur16e_moveit_config - 1.3.3 + 1.5.0 An automatically generated package with all the configuration and launch files for using the ur16e with the MoveIt Motion Planning Framework diff --git a/ur20_moveit_config/CHANGELOG.rst b/ur20_moveit_config/CHANGELOG.rst index f5bfb7f1d..566f0799a 100644 --- a/ur20_moveit_config/CHANGELOG.rst +++ b/ur20_moveit_config/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur20_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ diff --git a/ur20_moveit_config/LICENSE b/ur20_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur20_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur20_moveit_config/config/kinematics.yaml b/ur20_moveit_config/config/kinematics.yaml index 7e7474f06..8cf7b5007 100644 --- a/ur20_moveit_config/config/kinematics.yaml +++ b/ur20_moveit_config/config/kinematics.yaml @@ -1,5 +1,6 @@ manipulator: - kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin - solve_type: Distance + kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 + kinematics_solver_timeout: 0.02 + minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur20_moveit_config/package.xml b/ur20_moveit_config/package.xml index a24f057f3..e53a95fab 100644 --- a/ur20_moveit_config/package.xml +++ b/ur20_moveit_config/package.xml @@ -2,7 +2,7 @@ ur20_moveit_config - 1.3.3 + 1.5.0 An automatically generated package with all the configuration and launch files for using the ur20 with the MoveIt Motion Planning Framework diff --git a/ur30_moveit_config/CHANGELOG.rst b/ur30_moveit_config/CHANGELOG.rst index 5398ff6b0..dbb5f32ac 100644 --- a/ur30_moveit_config/CHANGELOG.rst +++ b/ur30_moveit_config/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur30_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ * UR30 description and meshes (`#674 `_) diff --git a/ur30_moveit_config/LICENSE b/ur30_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur30_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur30_moveit_config/config/kinematics.yaml b/ur30_moveit_config/config/kinematics.yaml index fc1e3dca0..8eb197e67 100644 --- a/ur30_moveit_config/config/kinematics.yaml +++ b/ur30_moveit_config/config/kinematics.yaml @@ -6,5 +6,6 @@ manipulator: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 - minimal_displacement_weight: 0.8 \ No newline at end of file + kinematics_solver_timeout: 0.02 + minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur30_moveit_config/package.xml b/ur30_moveit_config/package.xml index 5d30d3acf..95da6478b 100644 --- a/ur30_moveit_config/package.xml +++ b/ur30_moveit_config/package.xml @@ -2,7 +2,7 @@ ur30_moveit_config - 1.3.3 + 1.5.0 An automatically generated package with all the configuration and launch files for using the ur30 with the MoveIt Motion Planning Framework diff --git a/ur3_moveit_config/CHANGELOG.rst b/ur3_moveit_config/CHANGELOG.rst index 8f85882cb..0e0367259 100644 --- a/ur3_moveit_config/CHANGELOG.rst +++ b/ur3_moveit_config/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur3_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ diff --git a/ur3_moveit_config/LICENSE b/ur3_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur3_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur3_moveit_config/config/kinematics.yaml b/ur3_moveit_config/config/kinematics.yaml index 3b7ce92c0..2c2e3c3cc 100644 --- a/ur3_moveit_config/config/kinematics.yaml +++ b/ur3_moveit_config/config/kinematics.yaml @@ -5,5 +5,6 @@ manipulator: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 + kinematics_solver_timeout: 0.02 minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur3_moveit_config/package.xml b/ur3_moveit_config/package.xml index 47ebd3ec6..f2b1dc9d6 100644 --- a/ur3_moveit_config/package.xml +++ b/ur3_moveit_config/package.xml @@ -2,7 +2,7 @@ ur3_moveit_config - 1.3.3 + 1.5.0 An automatically generated package with all the configuration and launch files for using the ur3 with the MoveIt Motion Planning Framework diff --git a/ur3e_moveit_config/CHANGELOG.rst b/ur3e_moveit_config/CHANGELOG.rst index db17ef831..c1e21296c 100644 --- a/ur3e_moveit_config/CHANGELOG.rst +++ b/ur3e_moveit_config/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur3e_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ diff --git a/ur3e_moveit_config/LICENSE b/ur3e_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur3e_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur3e_moveit_config/config/kinematics.yaml b/ur3e_moveit_config/config/kinematics.yaml index 76a539090..e6979eb47 100644 --- a/ur3e_moveit_config/config/kinematics.yaml +++ b/ur3e_moveit_config/config/kinematics.yaml @@ -3,7 +3,8 @@ # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 manipulator: - kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin - solve_type: Distance + kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 + kinematics_solver_timeout: 0.02 + minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur3e_moveit_config/package.xml b/ur3e_moveit_config/package.xml index beae71e47..2a5fba23f 100644 --- a/ur3e_moveit_config/package.xml +++ b/ur3e_moveit_config/package.xml @@ -2,7 +2,7 @@ ur3e_moveit_config - 1.3.3 + 1.5.0 An automatically generated package with all the configuration and launch files for using the ur3e with the MoveIt Motion Planning Framework diff --git a/ur5_moveit_config/CHANGELOG.rst b/ur5_moveit_config/CHANGELOG.rst index e782b15b3..3754e4f3f 100644 --- a/ur5_moveit_config/CHANGELOG.rst +++ b/ur5_moveit_config/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur5_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ diff --git a/ur5_moveit_config/LICENSE b/ur5_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur5_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur5_moveit_config/config/kinematics.yaml b/ur5_moveit_config/config/kinematics.yaml index e63c09709..e02f76bd0 100644 --- a/ur5_moveit_config/config/kinematics.yaml +++ b/ur5_moveit_config/config/kinematics.yaml @@ -5,5 +5,6 @@ manipulator: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 + kinematics_solver_timeout: 0.02 minimal_displacement_weight: 0.8 + mode: gd_c \ No newline at end of file diff --git a/ur5_moveit_config/package.xml b/ur5_moveit_config/package.xml index bafb9f7e3..fdf1b04df 100644 --- a/ur5_moveit_config/package.xml +++ b/ur5_moveit_config/package.xml @@ -2,7 +2,7 @@ ur5_moveit_config - 1.3.3 + 1.5.0 An automatically generated package with all the configuration and launch files for using the ur5 with the MoveIt Motion Planning Framework diff --git a/ur5e_moveit_config/CHANGELOG.rst b/ur5e_moveit_config/CHANGELOG.rst index 75d5e0303..813cef37b 100644 --- a/ur5e_moveit_config/CHANGELOG.rst +++ b/ur5e_moveit_config/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ur5e_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ diff --git a/ur5e_moveit_config/LICENSE b/ur5e_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur5e_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur5e_moveit_config/config/kinematics.yaml b/ur5e_moveit_config/config/kinematics.yaml index a24782741..80683c767 100644 --- a/ur5e_moveit_config/config/kinematics.yaml +++ b/ur5e_moveit_config/config/kinematics.yaml @@ -5,5 +5,6 @@ manipulator: kinematics_solver: bio_ik/BioIKKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 + kinematics_solver_timeout: 0.02 minimal_displacement_weight: 0.8 + mode: gd_c diff --git a/ur5e_moveit_config/package.xml b/ur5e_moveit_config/package.xml index 8c9aee7ec..ff29301a8 100644 --- a/ur5e_moveit_config/package.xml +++ b/ur5e_moveit_config/package.xml @@ -2,7 +2,7 @@ ur5e_moveit_config - 1.3.3 + 1.5.0 An automatically generated package with all the configuration and launch files for using the ur5e with the MoveIt Motion Planning Framework diff --git a/ur7e_moveit_config/.setup_assistant b/ur7e_moveit_config/.setup_assistant new file mode 100644 index 000000000..d3fc6d647 --- /dev/null +++ b/ur7e_moveit_config/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: ur_description + relative_path: urdf/ur7e.xacro + xacro_args: "" + SRDF: + relative_path: config/ur7e.srdf + CONFIG: + author_name: Felix Exner + author_email: felix@fexner.de + generated_timestamp: 1611154369 \ No newline at end of file diff --git a/ur7e_moveit_config/CHANGELOG.rst b/ur7e_moveit_config/CHANGELOG.rst new file mode 100644 index 000000000..f92435c44 --- /dev/null +++ b/ur7e_moveit_config/CHANGELOG.rst @@ -0,0 +1,64 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package ur7e_moveit_config +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.5.0 (2025-05-13) +------------------ +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ +* Add support for ur7e and ur12e (`#692 `_) +* Contributors: Felix Exner + +1.3.3 (2024-04-08) +------------------ + +1.3.2 (2023-12-18) +------------------ + +1.3.1 (2022-11-11) +------------------ + +1.3.0 (2022-11-10) +------------------ + +1.2.5 (2019-04-05) +------------------ + +1.2.1 (2018-01-06) +------------------ + +1.2.0 (2017-08-04) +------------------ + +1.1.9 (2017-01-02) +------------------ + +1.1.8 (2016-12-30) +------------------ + +1.1.7 (2016-12-29) +------------------ + +1.1.6 (2016-04-01) +------------------ + +1.1.5 (2014-11-03) +------------------ + +1.0.4 (2014-09-04) +------------------ + +1.0.3 (2014-08-25) +------------------ + +1.0.2 (2014-03-31 15:55) +------------------------ + +1.0.1 (2014-03-31 11:03) +------------------------ + +1.0.0 (2014-03-24) +------------------ diff --git a/ur7e_moveit_config/CMakeLists.txt b/ur7e_moveit_config/CMakeLists.txt new file mode 100644 index 000000000..9babed5de --- /dev/null +++ b/ur7e_moveit_config/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ur7e_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(tests/moveit_planning_execution.xml) +endif() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ur7e_moveit_config/LICENSE b/ur7e_moveit_config/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur7e_moveit_config/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur7e_moveit_config/config/chomp_planning.yaml b/ur7e_moveit_config/config/chomp_planning.yaml new file mode 100644 index 000000000..75258e53e --- /dev/null +++ b/ur7e_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/ur7e_moveit_config/config/fake_controllers.yaml b/ur7e_moveit_config/config/fake_controllers.yaml new file mode 100644 index 000000000..afbfa6e6c --- /dev/null +++ b/ur7e_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: fake_manipulator_controller + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +initial: # Define initial robot poses. + - group: manipulator + pose: home diff --git a/ur7e_moveit_config/config/joint_limits.yaml b/ur7e_moveit_config/config/joint_limits.yaml new file mode 100644 index 000000000..bdc914f89 --- /dev/null +++ b/ur7e_moveit_config/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + elbow_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_lift_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + shoulder_pan_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_1_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_2_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 + wrist_3_joint: + has_velocity_limits: true + max_velocity: 3.1415926535897931 + has_acceleration_limits: false + max_acceleration: 0 diff --git a/ur7e_moveit_config/config/kinematics.yaml b/ur7e_moveit_config/config/kinematics.yaml new file mode 100644 index 000000000..80683c767 --- /dev/null +++ b/ur7e_moveit_config/config/kinematics.yaml @@ -0,0 +1,10 @@ +#manipulator: +# kinematics_solver: ur_kinematics/UR5eKinematicsPlugin +# kinematics_solver_search_resolution: 0.005 +# kinematics_solver_timeout: 0.005 +manipulator: + kinematics_solver: bio_ik/BioIKKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.02 + minimal_displacement_weight: 0.8 + mode: gd_c diff --git a/ur7e_moveit_config/config/ompl_planning.yaml b/ur7e_moveit_config/config/ompl_planning.yaml new file mode 100644 index 000000000..39ba9f166 --- /dev/null +++ b/ur7e_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,149 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + longest_valid_segment_fraction: 0.01 + default_planner_config: RRTConnect + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo diff --git a/ur7e_moveit_config/config/ros_controllers.yaml b/ur7e_moveit_config/config/ros_controllers.yaml new file mode 100644 index 000000000..bfc4186c4 --- /dev/null +++ b/ur7e_moveit_config/config/ros_controllers.yaml @@ -0,0 +1,11 @@ +controller_list: +- name: "scaled_pos_joint_traj_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + joints: + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint diff --git a/ur7e_moveit_config/config/ur7e.srdf b/ur7e_moveit_config/config/ur7e.srdf new file mode 100644 index 000000000..3d875fbb2 --- /dev/null +++ b/ur7e_moveit_config/config/ur7e.srdf @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur7e_moveit_config/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..1be09e456 --- /dev/null +++ b/ur7e_moveit_config/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/default_warehouse_db.launch b/ur7e_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 000000000..ea94272a2 --- /dev/null +++ b/ur7e_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/demo.launch b/ur7e_moveit_config/launch/demo.launch new file mode 100644 index 000000000..e5f76ed79 --- /dev/null +++ b/ur7e_moveit_config/launch/demo.launch @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur7e_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..9d7c8d390 --- /dev/null +++ b/ur7e_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ur7e_moveit_config/launch/move_group.launch b/ur7e_moveit_config/launch/move_group.launch new file mode 100644 index 000000000..f9454fbd5 --- /dev/null +++ b/ur7e_moveit_config/launch/move_group.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/moveit.rviz b/ur7e_moveit_config/launch/moveit.rviz new file mode 100644 index 000000000..cfc2fec04 --- /dev/null +++ b/ur7e_moveit_config/launch/moveit.rviz @@ -0,0 +1,280 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.5175438523292542 + Tree Height: 259 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.996500015258789 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.1539382934570312 + Y: 0.5978575348854065 + Z: -2.5331917186122155e-7 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.45979705452919006 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 0.9717636108398438 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 783 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001ca000002b9fc0200000007fb000000100044006900730070006c006100790073010000003b0000013e000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000017f000001750000016a00ffffff000002ce000002b900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1182 + X: 481 + Y: 253 diff --git a/ur7e_moveit_config/launch/moveit_planning_execution.launch b/ur7e_moveit_config/launch/moveit_planning_execution.launch new file mode 100644 index 000000000..848aa78c8 --- /dev/null +++ b/ur7e_moveit_config/launch/moveit_planning_execution.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/moveit_rviz.launch b/ur7e_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 000000000..1ed11b8c0 --- /dev/null +++ b/ur7e_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur7e_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 000000000..531f807ec --- /dev/null +++ b/ur7e_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/planning_context.launch b/ur7e_moveit_config/launch/planning_context.launch new file mode 100644 index 000000000..f96e8404e --- /dev/null +++ b/ur7e_moveit_config/launch/planning_context.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/planning_pipeline.launch.xml b/ur7e_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 000000000..2fee0c15a --- /dev/null +++ b/ur7e_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ur7e_moveit_config/launch/run_benchmark_ompl.launch b/ur7e_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 000000000..db6483954 --- /dev/null +++ b/ur7e_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/sensor_manager.launch.xml b/ur7e_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 000000000..cdd4a1db5 --- /dev/null +++ b/ur7e_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/setup_assistant.launch b/ur7e_moveit_config/launch/setup_assistant.launch new file mode 100644 index 000000000..b2adff3c8 --- /dev/null +++ b/ur7e_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/trajectory_execution.launch.xml b/ur7e_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 000000000..36ccfce57 --- /dev/null +++ b/ur7e_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/ur7e_moveit_controller_manager.launch.xml b/ur7e_moveit_config/launch/ur7e_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..95cbcf080 --- /dev/null +++ b/ur7e_moveit_config/launch/ur7e_moveit_controller_manager.launch.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/ur7e_moveit_config/launch/ur7e_moveit_sensor_manager.launch.xml b/ur7e_moveit_config/launch/ur7e_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/ur7e_moveit_config/launch/ur7e_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/ur7e_moveit_config/launch/warehouse.launch b/ur7e_moveit_config/launch/warehouse.launch new file mode 100644 index 000000000..0dafdb13d --- /dev/null +++ b/ur7e_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/launch/warehouse_settings.launch.xml b/ur7e_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 000000000..e473b083b --- /dev/null +++ b/ur7e_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur7e_moveit_config/package.xml b/ur7e_moveit_config/package.xml new file mode 100644 index 000000000..5f5653bc1 --- /dev/null +++ b/ur7e_moveit_config/package.xml @@ -0,0 +1,41 @@ + + + + ur7e_moveit_config + 1.5.0 + + An automatically generated package with all the configuration and launch files for using the ur7e with the MoveIt Motion Planning Framework + + Felix Messmer + G.A. vd. Hoorn + Miguel Prada Sarasola + Nadia Hammoudeh Garcia + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + joint_state_publisher + joint_state_publisher_gui + moveit_fake_controller_manager + moveit_planners_ompl + moveit_ros_benchmarks + moveit_ros_move_group + moveit_ros_visualization + moveit_ros_warehouse + warehouse_ros_mongo + moveit_setup_assistant + moveit_simple_controller_manager + robot_state_publisher + rviz + tf2_ros + trac_ik_kinematics_plugin + ur_description + xacro + + roslaunch + catkin + + diff --git a/ur7e_moveit_config/tests/moveit_planning_execution.xml b/ur7e_moveit_config/tests/moveit_planning_execution.xml new file mode 100644 index 000000000..c8853151d --- /dev/null +++ b/ur7e_moveit_config/tests/moveit_planning_execution.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ur_description/CHANGELOG.rst b/ur_description/CHANGELOG.rst index 04dd7cb28..cc04a8215 100644 --- a/ur_description/CHANGELOG.rst +++ b/ur_description/CHANGELOG.rst @@ -2,6 +2,23 @@ Changelog for package ur_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add support for UR15 (`#702 `_) +* Fix materials for UR20 upper arm mesh (`#699 `_) +* Update the inertia matrices for the UR5e and UR3e (`#697 `_) + They have been updated from the CAD model and should be more accurate than + the cylinder approximations +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ +* Add support for ur7e and ur12e (`#692 `_) +* Fix masses of robot links (`#689 `_) +* Fix UR3 mesh positing. (`#691 `_) +* Contributors: Felix Exner, Mads Holm Peters, Vincenzo Di Pentima + 1.3.3 (2024-04-08) ------------------ * Fix default calibration file for UR30 (`#677 `_) diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt index 703c0b8b7..d3c94b607 100644 --- a/ur_description/CMakeLists.txt +++ b/ur_description/CMakeLists.txt @@ -9,12 +9,15 @@ if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur12e.xml) roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur15.xml) roslaunch_add_file_check(tests/roslaunch_test_ur20.xml) roslaunch_add_file_check(tests/roslaunch_test_ur30.xml) roslaunch_add_file_check(tests/roslaunch_test_ur3e.xml) roslaunch_add_file_check(tests/roslaunch_test_ur3.xml) roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur7e.xml) roslaunch_add_file_check(tests/roslaunch_test_ur5.xml) endif() diff --git a/ur_description/LICENSE b/ur_description/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur_description/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur_description/config/ur10/physical_parameters.yaml b/ur_description/config/ur10/physical_parameters.yaml index e6515389b..1389d4ec2 100644 --- a/ur_description/config/ur10/physical_parameters.yaml +++ b/ur_description/config/ur10/physical_parameters.yaml @@ -1,26 +1,17 @@ # Physical parameters -dh_parameters: - d1: 0.1273 - a2: -0.612 - a3: -0.5723 - d4: 0.163941 - d5: 0.1157 - d6: 0.0922 - offsets: shoulder_offset: 0.220941 # measured from model elbow_offset: 0.049042 # measured from model inertia_parameters: base_mass: 4.0 # This mass might be incorrect - shoulder_mass: 7.778 - upper_arm_mass: 12.93 - upper_arm_inertia_offset: 0.175 - forearm_mass: 3.87 - wrist_1_mass: 1.96 - wrist_2_mass: 1.96 - wrist_3_mass: 0.202 + shoulder_mass: 7.1 + upper_arm_mass: 12.7 + forearm_mass: 4.27 + wrist_1_mass: 2.0 + wrist_2_mass: 2.0 + wrist_3_mass: 0.365 shoulder_radius: x0.060 # FROM UR5 DON'T USE upper_arm_radius: x0.054 # FROM UR5 DON'T USE @@ -32,47 +23,100 @@ inertia_parameters: base: radius: 0.075 length: 0.038 - shoulder: - radius: 0.075 - length: 0.178 - upperarm: - radius: 0.075 - length: 0.612 - forearm: - radius: 0.075 - length: 0.5723 - wrist_1: - radius: 0.075 - length: 0.12 - wrist_2: - radius: 0.075 - length: 0.09 - wrist_3: - radius: 0.045 - length: 0.0305 center_of_mass: shoulder_cog: - x: 0.0 - y: 0.00244 - z: -0.037 + x: 0.021 # model.x + y: -0.027 # -model.z + z: 0.0 # model.y upper_arm_cog: - x: 0.00001 - y: 0.15061 - z: 0.38757 + x: -0.232 # model.x - upper_arm_length + y: 0.0 # model.y + z: 0.158 # model.z forearm_cog: - x: -0.00012 - y: 0.06112 - z: 0.1984 + x: -0.3323 # model.x - forearm_length + y: 0.0 # model.y + z: 0.068 # model.z wrist_1_cog: - x: -0.00021 - y: -0.00112 - z: 0.02269 + x: 0.0 # model.x + y: -0.018 # -model.z + z: 0.007 # model.y wrist_2_cog: - x: -0.00021 - y: 0.00112 - z: 0.002269 + x: 0.0 # model.x + y: 0.018 # model.z + z: -0.007 # -model.y wrist_3_cog: - x: 0.0 - y: -0.001156 - z: -0.00149 + x: 0.0 # model.x + y: 0 # model.y + z: -0.026 # model.z + + rotation: + shoulder: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 0 + yaw: 0 + forearm: + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + wrist_2: + roll: -1.570796326794897 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + # extracted from URSim + tensor: + shoulder: + ixx: 0.03408 + ixy: 0.00002 + ixz: -0.00425 + iyy: 0.03529 + iyz: 0.00008 + izz: 0.02156 + upper_arm: + ixx: 0.02814 + ixy: 0.00005 + ixz: -0.01561 + iyy: 0.77068 + iyz: 0.00002 + izz: 0.76943 + forearm: + ixx: 0.01014 + ixy: 0.00008 + ixz: 0.00916 + iyy: 0.30928 + iyz: 0.0 + izz: 0.30646 + wrist_1: + ixx: 0.00296 + ixy: -0.00001 + ixz: 0.0 + iyy: 0.00222 + iyz: -0.00024 + izz: 0.00258 + wrist_2: + ixx: 0.00296 + ixy: -0.00001 + ixz: 0.0 + iyy: 0.00222 + iyz: -0.00024 + izz: 0.00258 + wrist_3: + ixx: 0.00040 + ixy: 0.0 + ixz: 0.0 + iyy: 0.00041 + iyz: 0.0 + izz: 0.00034 \ No newline at end of file diff --git a/ur_description/config/ur10e/joint_limits.yaml b/ur_description/config/ur10e/joint_limits.yaml index 421af3625..9a0030e3e 100644 --- a/ur_description/config/ur10e/joint_limits.yaml +++ b/ur_description/config/ur10e/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 330.0 - max_position: !degrees 170.0 + max_position: !degrees 360.0 max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + min_position: !degrees -360.0 shoulder_lift: # acceleration limits are not publicly available has_acceleration_limits: false @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 330.0 - max_position: !degrees 0.0 + max_position: !degrees 360.0 max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + min_position: !degrees -360.0 elbow_joint: # acceleration limits are not publicly available has_acceleration_limits: false @@ -45,39 +45,36 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees 0.0 + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 wrist_1: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 56.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 - # max_position: !degrees 80.0 - # max_velocity: !degrees 120.0 - # min_position: !degrees -260.0 + max_effort: 54.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 wrist_2: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 56.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees 30 + max_effort: 54.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 wrist_3: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 56.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_effort: 54.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur10e/physical_parameters.yaml b/ur_description/config/ur10e/physical_parameters.yaml index ffae062fd..daaae7389 100644 --- a/ur_description/config/ur10e/physical_parameters.yaml +++ b/ur_description/config/ur10e/physical_parameters.yaml @@ -1,26 +1,17 @@ # Physical parameters -dh_parameters: - d1: 0.181 - a2: -0.613 - a3: -0.571 - d4: 0.174 # wrist1_length = d4 - elbow_offset - shoulder_offset - d5: 0.120 - d6: 0.117 - offsets: shoulder_offset: 0.1762 # measured from model elbow_offset: 0.0393 # measured from model inertia_parameters: base_mass: 4.0 # This mass might be incorrect - shoulder_mass: 7.778 - upper_arm_mass: 12.93 - upper_arm_inertia_offset: 0.175 # measured from model - forearm_mass: 3.87 - wrist_1_mass: 1.96 - wrist_2_mass: 1.96 - wrist_3_mass: 0.202 + shoulder_mass: 7.369 + upper_arm_mass: 13.051 + forearm_mass: 3.989 + wrist_1_mass: 2.1 + wrist_2_mass: 1.98 + wrist_3_mass: 0.615 shoulder_radius: x0.060 # FROM UR5 DON'T USE upper_arm_radius: x0.054 # FROM UR5 DON'T USE @@ -32,47 +23,100 @@ inertia_parameters: base: radius: 0.075 length: 0.038 - shoulder: - radius: 0.075 - length: 0.178 - upperarm: - radius: 0.075 - length: 0.612 - forearm: - radius: 0.075 - length: 0.57155 - wrist_1: - radius: 0.075 - length: 0.12 - wrist_2: - radius: 0.075 - length: 0.12 - wrist_3: - radius: 0.045 - length: 0.05 + # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ center_of_mass: shoulder_cog: - x: 0.0 - y: 0.00244 - z: -0.037 + x: 0.021 # model.x + y: -0.027 # -model.z + z: 0.0 # model.y upper_arm_cog: - x: 0.00001 - y: 0.15061 - z: 0.38757 + x: -0.2327 # model.x - upper_arm_length + y: 0.0 # model.y + z: 0.158 # model.z forearm_cog: - x: -0.00012 - y: 0.06112 - z: 0.1984 + x: -0.33155 # model.x - forearm_length + y: 0.0 # model.y + z: 0.068 # model.z wrist_1_cog: - x: -0.00021 - y: -0.00112 - z: 0.02269 + x: 0.0 # model.x + y: -0.018 # -model.z + z: 0.007 # model.y wrist_2_cog: - x: -0.00021 - y: 0.00112 - z: 0.002269 + x: 0.0 # model.x + y: 0.018 # model.z + z: -0.007 # -model.y wrist_3_cog: - x: 0.0 - y: -0.001156 - z: -0.00149 + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.026 # model.z + + rotation: + shoulder: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 0 + yaw: 0 + forearm: + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + wrist_2: + roll: -1.570796326794897 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + tensor: + shoulder: + ixx: 0.03408 + ixy: 0.00002 + ixz: -0.00425 + iyy: 0.03529 + iyz: 0.00008 + izz: 0.02156 + upper_arm: + ixx: 0.02814 + ixy: 0.00005 + ixz: -0.01561 + iyy: 0.77068 + iyz: 0.00002 + izz: 0.76943 + forearm: + ixx: 0.01014 + ixy: 0.00008 + ixz: 0.00916 + iyy: 0.30928 + iyz: 0.0 + izz: 0.30646 + wrist_1: + ixx: 0.00296 + ixy: -0.00001 + ixz: 0.0 + iyy: 0.00222 + iyz: -0.00024 + izz: 0.00258 + wrist_2: + ixx: 0.00296 + ixy: -0.00001 + ixz: 0.0 + iyy: 0.00222 + iyz: -0.00024 + izz: 0.00258 + wrist_3: + ixx: 0.00040 + ixy: 0.0 + ixz: 0.0 + iyy: 0.00041 + iyz: 0.0 + izz: 0.00034 diff --git a/ur_description/config/ur12e/default_kinematics.yaml b/ur_description/config/ur12e/default_kinematics.yaml new file mode 100644 index 000000000..fca697c0d --- /dev/null +++ b/ur_description/config/ur12e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1807 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.6127 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.57155 + y: 0 + z: 0.17415 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.11985 + z: -2.458164590756244e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.11655 + z: -2.390480459346185e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_5119701370761913513 diff --git a/ur_description/config/ur12e/joint_limits.yaml b/ur_description/config/ur12e/joint_limits.yaml new file mode 100644 index 000000000..9a0030e3e --- /dev/null +++ b/ur_description/config/ur12e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR10e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69139/99405_UR10e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 330.0 + max_position: !degrees 360.0 + max_velocity: !degrees 120.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 54.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 54.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 54.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur12e/physical_parameters.yaml b/ur_description/config/ur12e/physical_parameters.yaml new file mode 100644 index 000000000..daaae7389 --- /dev/null +++ b/ur_description/config/ur12e/physical_parameters.yaml @@ -0,0 +1,122 @@ +# Physical parameters + +offsets: + shoulder_offset: 0.1762 # measured from model + elbow_offset: 0.0393 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 7.369 + upper_arm_mass: 13.051 + forearm_mass: 3.989 + wrist_1_mass: 2.1 + wrist_2_mass: 1.98 + wrist_3_mass: 0.615 + + shoulder_radius: x0.060 # FROM UR5 DON'T USE + upper_arm_radius: x0.054 # FROM UR5 DON'T USE + elbow_radius: x0.060 # FROM UR5 DON'T USE + forearm_radius: x0.040 # FROM UR5 DON'T USE + wrist_radius: x0.045 # FROM UR5 DON'T USE + + links: + base: + radius: 0.075 + length: 0.038 + + # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ + center_of_mass: + shoulder_cog: + x: 0.021 # model.x + y: -0.027 # -model.z + z: 0.0 # model.y + upper_arm_cog: + x: -0.2327 # model.x - upper_arm_length + y: 0.0 # model.y + z: 0.158 # model.z + forearm_cog: + x: -0.33155 # model.x - forearm_length + y: 0.0 # model.y + z: 0.068 # model.z + wrist_1_cog: + x: 0.0 # model.x + y: -0.018 # -model.z + z: 0.007 # model.y + wrist_2_cog: + x: 0.0 # model.x + y: 0.018 # model.z + z: -0.007 # -model.y + wrist_3_cog: + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.026 # model.z + + rotation: + shoulder: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 0 + yaw: 0 + forearm: + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + wrist_2: + roll: -1.570796326794897 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + tensor: + shoulder: + ixx: 0.03408 + ixy: 0.00002 + ixz: -0.00425 + iyy: 0.03529 + iyz: 0.00008 + izz: 0.02156 + upper_arm: + ixx: 0.02814 + ixy: 0.00005 + ixz: -0.01561 + iyy: 0.77068 + iyz: 0.00002 + izz: 0.76943 + forearm: + ixx: 0.01014 + ixy: 0.00008 + ixz: 0.00916 + iyy: 0.30928 + iyz: 0.0 + izz: 0.30646 + wrist_1: + ixx: 0.00296 + ixy: -0.00001 + ixz: 0.0 + iyy: 0.00222 + iyz: -0.00024 + izz: 0.00258 + wrist_2: + ixx: 0.00296 + ixy: -0.00001 + ixz: 0.0 + iyy: 0.00222 + iyz: -0.00024 + izz: 0.00258 + wrist_3: + ixx: 0.00040 + ixy: 0.0 + ixz: 0.0 + iyy: 0.00041 + iyz: 0.0 + izz: 0.00034 diff --git a/ur_description/config/ur12e/visual_parameters.yaml b/ur_description/config/ur12e/visual_parameters.yaml new file mode 100644 index 000000000..9bd6002d6 --- /dev/null +++ b/ur_description/config/ur12e/visual_parameters.yaml @@ -0,0 +1,69 @@ +# Visualisation + +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist1.stl" + visual_offset: -0.135 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist2.stl" + visual_offset: -0.12 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur10e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur10e/collision/wrist3.stl" + visual_offset: -0.1168 diff --git a/ur_description/config/ur15/default_kinematics.yaml b/ur_description/config/ur15/default_kinematics.yaml new file mode 100644 index 000000000..5baa90197 --- /dev/null +++ b/ur_description/config/ur15/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.21859999999999999 + roll: -0 + pitch: 0 + yaw: -0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: -0 + forearm: + x: -0.64749999999999996 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.51639999999999997 + y: 0 + z: 0.18240000000000001 + roll: -0 + pitch: 0 + yaw: -0 + wrist_2: + x: 0 + y: -0.1361 + z: -2.7914576620936571e-11 + roll: 1.570796327 + pitch: 0 + yaw: -0 + wrist_3: + x: 0 + y: 0.1434 + z: -2.941183164909849e-11 + roll: 1.5707963265897931 + pitch: 3.1415926535897931 + yaw: 3.1415926535897931 + hash: calib_16739373764049705779 diff --git a/ur_description/config/ur15/joint_limits.yaml b/ur_description/config/ur15/joint_limits.yaml new file mode 100644 index 000000000..78755d1c6 --- /dev/null +++ b/ur_description/config/ur15/joint_limits.yaml @@ -0,0 +1,72 @@ +--- +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 433.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 433.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 204.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 240.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 70.0 + max_position: !degrees 360.0 + max_velocity: !degrees 300.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 70.0 + max_position: !degrees 360.0 + max_velocity: !degrees 300.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 70.0 + max_position: !degrees 360.0 + max_velocity: !degrees 300.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur15/physical_parameters.yaml b/ur_description/config/ur15/physical_parameters.yaml new file mode 100644 index 000000000..c68637ef3 --- /dev/null +++ b/ur_description/config/ur15/physical_parameters.yaml @@ -0,0 +1,124 @@ +--- +# Physical parameters + +offsets: + shoulder_offset: 0.100 # measured from model + elbow_offset: 0.125 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 9.9883 + upper_arm_mass: 14.9255 + forearm_mass: 6.1015 + wrist_1_mass: 2.089 + wrist_2_mass: 2.0869 + wrist_3_mass: 1.0666 + + shoulder_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE + upper_arm_radius: x0.054 # FROM UR5 CURRENTLY NOT USED ANYMORE + elbow_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE + forearm_radius: x0.040 # FROM UR5 CURRENTLY NOT USED ANYMORE + wrist_radius: x0.045 # FROM UR5 CURRENTLY NOT USED ANYMORE + + # used to approximate the inertia tensor of the fixed base using a cylinder approximation. This + # is only relevant if the robot's base is moving e.g. when it's mounted on a mobile platform. + links: + base: + radius: 0.17 + length: 0.1 + + center_of_mass: + shoulder_cog: + x: 0.000024 # model.x + y: -0.025304 # -model.z + z: -0.033309 # model.y + upper_arm_cog: + x: -0.228491 # model.x - upperarm_length + y: -0.000083 # model.y + z: 0.192787 # model.z + forearm_cog: + x: -0.210929 # model.x - forearm_length + y: 0.000019 # model.y + z: 0.070552 # model.z + wrist_1_cog: + x: 0.000025 # model.x + y: -0.016413 # -model.z + z: -0.019695 # model.y + wrist_2_cog: + x: 0.000025 # model.x + y: 0.015886 # model.z + z: -0.019960 # -model.y + wrist_3_cog: + x: -0.000018 # model.x + y: -0.000112 # model.y + z: -0.053397 # model.z + + rotation: + shoulder: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 0 + yaw: 0 + forearm: + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + wrist_2: + roll: -1.570796326794897 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + tensor: + shoulder: + ixx: 0.051334 + ixy: 0.000025 + ixz: -0.000016 + iyy: 0.047702 + iyz: 0.008805 + izz: 0.034263 + upper_arm: + ixx: 0.048202 + ixy: 0.000232 + ixz: -0.032135 + iyy: 1.188499 + iyz: -0.000017 + izz: 1.182771 + forearm: + ixx: 0.018481 + ixy: -0.000005 + ixz: 0.013601 + iyy: 0.303502 + iyz: 0.000003 + izz: 0.296843 + wrist_1: + ixx: 0.004339 + ixy: 0.000019 + ixz: 0.000001 + iyy: 0.002548 + iyz: 0.000706 + izz: 0.003912 + wrist_2: + ixx: 0.004288 + ixy: 0.000017 + ixz: -0.000003 + iyy: 0.002566 + iyz: -0.000716 + izz: 0.003927 + wrist_3: + ixx: 0.001406 + ixy: -0.000003 + ixz: 0.000010 + iyy: 0.001404 + iyz: -0.000024 + izz: 0.001002 diff --git a/ur_description/config/ur15/visual_parameters.yaml b/ur_description/config/ur15/visual_parameters.yaml new file mode 100644 index 000000000..4e5b4c24d --- /dev/null +++ b/ur_description/config/ur15/visual_parameters.yaml @@ -0,0 +1,71 @@ +# Visualisation + +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur15/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur15/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur15/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur15/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur15/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur15/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur15/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur15/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur15/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur15/collision/wrist1.stl" + visual_offset: -0.0502 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur15/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur15/collision/wrist2.stl" + visual_offset: -0.064 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur15/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur15/collision/wrist3.stl" + visual_offset: -0.0715 + + diff --git a/ur_description/config/ur16e/joint_limits.yaml b/ur_description/config/ur16e/joint_limits.yaml index 272bb4843..c6d9188bf 100644 --- a/ur_description/config/ur16e/joint_limits.yaml +++ b/ur_description/config/ur16e/joint_limits.yaml @@ -54,7 +54,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 56.0 + max_effort: 54.0 max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 @@ -64,7 +64,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 56.0 + max_effort: 54.0 max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 @@ -74,7 +74,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 56.0 + max_effort: 54.0 max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 diff --git a/ur_description/config/ur16e/physical_parameters.yaml b/ur_description/config/ur16e/physical_parameters.yaml index 658d51d7f..b9d27fb30 100644 --- a/ur_description/config/ur16e/physical_parameters.yaml +++ b/ur_description/config/ur16e/physical_parameters.yaml @@ -1,14 +1,5 @@ # Physical parameters -# from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ -dh_parameters: - d1: 0.1807 - a2: -0.4784 - a3: -0.36 - d4: 0.17415 - d5: 0.11985 - d6: 0.11655 - offsets: shoulder_offset: 0.176 # measured from model elbow_offset: 0.040 # measured from model @@ -18,7 +9,6 @@ inertia_parameters: base_mass: 4.0 # This mass might be incorrect shoulder_mass: 7.369 upper_arm_mass: 10.450 - upper_arm_inertia_offset: 0.175 # measured from model forearm_mass: 4.321 wrist_1_mass: 2.180 wrist_2_mass: 2.033 @@ -34,47 +24,100 @@ inertia_parameters: base: radius: 0.075 length: 0.038 - shoulder: - radius: 0.075 - length: 0.178 - upperarm: - radius: 0.075 - length: 0.4784 - forearm: - radius: 0.075 - length: 0.36 - wrist_1: - radius: 0.075 - length: 0.12 - wrist_2: - radius: 0.075 - length: 0.12 - wrist_3: - radius: 0.045 - length: 0.05 - center_of_mass: # Adjusted manually + # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ + center_of_mass: shoulder_cog: - x: 0.0 - y: 0.00244 - z: -0.037 + x: 0.0 # model.x + y: -0.030 # -model.z + z: -0.016 # model.y upper_arm_cog: - x: 0.00001 - y: 0.15061 - z: 0.38757 + x: -0.1764 # model.x - upperarm_length + y: 0.0 # model.y + z: 0.16 # model.z forearm_cog: - x: -0.00012 - y: 0.06112 - z: 0.1984 + x: -0.166 # model.x - forearm_length + y: 0.0 # model.y + z: 0.065 # model.z wrist_1_cog: - x: -0.00021 - y: -0.00112 - z: 0.02269 + x: 0.0 # model.x + y: -0.011 # -model.z + z: -0.009 # model.y wrist_2_cog: - x: -0.00021 - y: 0.00112 - z: 0.002269 + x: 0.0 # model.x + y: 0.012 # model.z + z: -0.018 # -model.y wrist_3_cog: - x: 0.0 - y: -0.001156 - z: -0.00149 + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.044 # model.z + + rotation: + shoulder: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 0 + yaw: 0 + forearm: + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + wrist_2: + roll: -1.570796326794897 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + tensor: + shoulder: + ixx: 0.03351 + ixy: 0.00002 + ixz: -0.00001 + iyy: 0.03374 + iyz: 0.00374 + izz: 0.02100 + upper_arm: + ixx: 0.02796 + ixy: -0.00010 + ixz: -0.00720 + iyy: 0.47558 + iyz: 0.00003 + izz: 0.47635 + forearm: + ixx: 0.01091 + ixy: 0.00006 + ixz: 0.01012 + iyy: 0.12060 + iyz: 0.00001 + izz: 0.11714 + wrist_1: + ixx: 0.00609 + ixy: -0.00001 + ixz: 0.0 + iyy: 0.00245 + iyz: 0.00083 + izz: 0.00579 + wrist_2: + ixx: 0.00389 + ixy: -0.00001 + ixz: 0.0 + iyy: 0.00219 + iyz: -0.00045 + izz: 0.00363 + wrist_3: + ixx: 0.00117 + ixy: 0.0 + ixz: 0.0 + iyy: 0.00118 + iyz: 0.0 + izz: 0.00084 diff --git a/ur_description/config/ur20/joint_limits.yaml b/ur_description/config/ur20/joint_limits.yaml index 8319755b5..1acb3e9e0 100644 --- a/ur_description/config/ur20/joint_limits.yaml +++ b/ur_description/config/ur20/joint_limits.yaml @@ -11,7 +11,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 730.0 + max_effort: 738.0 max_position: !degrees 360.0 max_velocity: !degrees 120.0 min_position: !degrees -360.0 @@ -21,7 +21,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 730.0 + max_effort: 738.0 max_position: !degrees 360.0 max_velocity: !degrees 120.0 min_position: !degrees -360.0 @@ -31,7 +31,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 430.0 + max_effort: 433.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical # construction of the robot, it's impossible to rotate the 'elbow_joint' @@ -51,7 +51,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 100.0 + max_effort: 107.0 max_position: !degrees 360.0 max_velocity: !degrees 210.0 min_position: !degrees -360.0 @@ -61,7 +61,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 100.0 + max_effort: 107.0 max_position: !degrees 360.0 max_velocity: !degrees 210.0 min_position: !degrees -360.0 @@ -71,7 +71,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 100.0 + max_effort: 107.0 max_position: !degrees 360.0 max_velocity: !degrees 210.0 min_position: !degrees -360.0 \ No newline at end of file diff --git a/ur_description/config/ur20/physical_parameters.yaml b/ur_description/config/ur20/physical_parameters.yaml index 17aaaee8d..565f98756 100644 --- a/ur_description/config/ur20/physical_parameters.yaml +++ b/ur_description/config/ur20/physical_parameters.yaml @@ -1,25 +1,17 @@ # Physical parameters -# from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ -dh_parameters: - d1: 0.2363 - a2: -0.8620 - a3: -0.7287 - d4: 0.201 - d5: 0.1593 - d6: 0.1543 + offsets: shoulder_offset: 0.260 # measured from model elbow_offset: 0.043 # measured from model inertia_parameters: - # taken from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ + # taken from https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ base_mass: 4.0 # This mass might be incorrect shoulder_mass: 16.343 upper_arm_mass: 29.632 - upper_arm_inertia_offset: 0.275 # measured from model forearm_mass: 7.879 wrist_1_mass: 3.054 wrist_2_mass: 3.126 - wrist_3_mass: 0.846 + wrist_3_mass: 0.926 shoulder_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE upper_arm_radius: x0.054 # FROM UR5 CURRENTLY NOT USED ANYMORE @@ -31,48 +23,100 @@ inertia_parameters: base: radius: 0.075 length: 0.038 - shoulder: - radius: 0.075 - length: 0.178 - upperarm: - radius: 0.075 - length: 0.852 - forearm: - radius: 0.075 - length: 0.7287 - wrist_1: - radius: 0.075 - length: 0.12 - wrist_2: - radius: 0.075 - length: 0.12 - wrist_3: - radius: 0.045 - length: 0.05 - center_of_mass: # Adjusted manually + center_of_mass: shoulder_cog: - x: 0.0 - y: 0.00244 - z: -0.037 + x: 0.0 # model.x + y: -0.0062 # -model.z + z: -0.061 # model.y upper_arm_cog: - x: 0.00001 - y: 0.15061 - z: 0.48757 + x: -0.3394 # model.x - upperarm_length + y: 0.0 # model.y + z: 0.2098 # model.z forearm_cog: - x: -0.00012 - y: 0.06112 - z: 0.2984 + x: -0.4053 # model.x - forearm_length + y: 0.0 # model.y + z: 0.0604 # model.z wrist_1_cog: - x: -0.00021 - y: -0.00112 - z: 0.02269 + x: 0.0 # model.x + y: -0.0393 # -model.z + z: -0.0026 # model.y wrist_2_cog: - x: -0.00021 - y: 0.00112 - z: 0.002269 + x: 0.0 # model.x + y: 0.0379 # model.z + z: -0.0024 # -model.y wrist_3_cog: - x: 0.0 - y: -0.001156 - z: -0.00149 + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.0293 # model.z + + rotation: + shoulder: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 0 + yaw: 0 + forearm: + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + wrist_2: + roll: -1.570796326794897 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + tensor: + shoulder: + ixx: 0.08866 + ixy: -0.00011 + ixz: -0.00011 + iyy: 0.07632 + iyz: 0.00720 + izz: 0.08418 + upper_arm: + ixx: 0.14670 + ixy: 0.00019 + ixz: -0.05163 + iyy: 4.66590 + iyz: 0.00004 + izz: 4.63480 + forearm: + ixx: 0.02612 + ixy: -0.00005 + ixz: -0.02898 + iyy: 0.75763 + iyz: -0.00001 + izz: 0.75327 + wrist_1: + ixx: 0.00555 + ixy: -0.00001 + ixz: -0.00002 + iyy: 0.00537 + iyz: 0.00036 + izz: 0.00402 + wrist_2: + ixx: 0.00586 + ixy: -0.00001 + ixz: -0.00002 + iyy: 0.00578 + iyz: -0.00037 + izz: 0.00427 + wrist_3: + ixx: 0.00092 + ixy: 0.0 + ixz: 0.0 + iyy: 0.00091 + iyz: 0.0 + izz: 0.00117 diff --git a/ur_description/config/ur3/joint_limits.yaml b/ur_description/config/ur3/joint_limits.yaml index 6a8a42be5..461288abf 100644 --- a/ur_description/config/ur3/joint_limits.yaml +++ b/ur_description/config/ur3/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 shoulder_lift: # acceleration limits are not publicly available has_acceleration_limits: false @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 56.0 - max_position: !degrees 0.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 elbow_joint: # acceleration limits are not publicly available has_acceleration_limits: false @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees 0.0 + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 wrist_1: # acceleration limits are not publicly available has_acceleration_limits: false @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 12.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 wrist_2: # acceleration limits are not publicly available has_acceleration_limits: false @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 12.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees 30 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 wrist_3: # acceleration limits are not publicly available has_acceleration_limits: false @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 12.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 360.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur3/physical_parameters.yaml b/ur_description/config/ur3/physical_parameters.yaml index ce207b722..db14eb20e 100644 --- a/ur_description/config/ur3/physical_parameters.yaml +++ b/ur_description/config/ur3/physical_parameters.yaml @@ -1,13 +1,5 @@ # Physical parameters -dh_parameters: - d1: 0.1519 - a2: -0.24365 - a3: -0.21325 - d4: 0.11235 - d5: 0.08535 - d6: 0.0819 - offsets: shoulder_offset: 0.1198 # measured from model elbow_offset: 0.0275 # measured from model @@ -32,47 +24,103 @@ inertia_parameters: base: radius: 0.075 length: 0.038 - shoulder: - radius: 0.075 - length: 0.178 - upperarm: - radius: 0.075 - length: 0.24365 - forearm: - radius: 0.075 - length: 0.21325 - wrist_1: - radius: 0.075 - length: 0.08535 - wrist_2: - radius: 0.075 - length: 0.0819 - wrist_3: - radius: 0.032 - length: 0.04 + # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ center_of_mass: shoulder_cog: - x: 0.0 - y: -0.02 - z: 0.0 + x: 0.0 # model.x + y: 0.0 # -model.z + z: -0.02 # model.y upper_arm_cog: - x: 0.13 - y: 0.0 - z: 0.1157 + x: -0.11365 # model.x - upper_arm_length + y: 0.0 # model.y + z: 0.1157 # model.z forearm_cog: - x: 0.05 - y: 0.0 - z: 0.0238 + x: -0.16325 # model.x - forearm_length + y: 0.0 # model.y + z: 0.0238 # model.z wrist_1_cog: - x: 0.0 - y: 0.0 - z: 0.01 + x: 0.0 # model.x + y: -0.01 # -model.z + z: 0.0 # model.y wrist_2_cog: - x: 0.0 - y: 0.0 - z: 0.01 + x: 0.0 # model.x + y: 0.01 # model.z + z: 0.0 # -model.y wrist_3_cog: - x: 0.0 - y: 0.0 - z: -0.02 + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.02 # model.z + + # compatible with cylinder approximation + rotation: + shoulder: + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 1.570796326794897 + yaw: 0 + forearm: + roll: 0 + pitch: 1.570796326794897 + yaw: 0 + wrist_1: + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + roll: 0 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + + # generated using cylinder approximation + tensor: + shoulder: + ixx: 0.008093166666666665 + ixy: 0 + ixz: 0 + iyy: 0.008093166666666665 + iyz: 0 + izz: 0.005625 + upper_arm: + ixx: 0.021728491912499998 + ixy: 0 + ixz: 0 + iyy: 0.021728491912499998 + iyz: 0 + izz: 0.00961875 + forearm: + ixx: 0.0065468090625 + ixy: 0 + ixz: 0 + iyy: 0.0065468090625 + iyz: 0 + izz: 0.00354375 + wrist_1: + ixx: 0.0016106414999999998 + ixy: 0 + ixz: 0 + iyy: 0.0016106414999999998 + iyz: 0 + izz: 0.00225 + wrist_2: + ixx: 0.0015721739999999998 + ixy: 0 + ixz: 0 + iyy: 0.0015721739999999998 + iyz: 0 + izz: 0.00225 + wrist_3: + ixx: 0.00013626666666666665 + ixy: 0 + ixz: 0 + iyy: 0.00013626666666666665 + iyz: 0 + izz: 0.0001792 diff --git a/ur_description/config/ur3/visual_parameters.yaml b/ur_description/config/ur3/visual_parameters.yaml index d16f51cbc..cdae184e5 100644 --- a/ur_description/config/ur3/visual_parameters.yaml +++ b/ur_description/config/ur3/visual_parameters.yaml @@ -54,7 +54,7 @@ mesh_files: color: "0.7 0.7 0.7 1.0" collision: mesh: "package://ur_description/meshes/ur3/collision/wrist2.stl" - visual_offset: -0.085 + visual_offset: -0.083 wrist_3: visual: @@ -65,3 +65,4 @@ mesh_files: collision: mesh: "package://ur_description/meshes/ur3/collision/wrist3.stl" visual_offset: -0.082 + visual_offset_xyz: "0 -0.00255 -0.082" diff --git a/ur_description/config/ur30/joint_limits.yaml b/ur_description/config/ur30/joint_limits.yaml index 68ddd876b..0b60032a3 100644 --- a/ur_description/config/ur30/joint_limits.yaml +++ b/ur_description/config/ur30/joint_limits.yaml @@ -11,27 +11,27 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 730.0 - max_position: !degrees 170.0 + max_effort: 738.0 + max_position: !degrees 360.0 max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + min_position: !degrees -360.0 shoulder_lift: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 730.0 - max_position: !degrees 0.0 + max_effort: 738.0 + max_position: !degrees 360.0 max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + min_position: !degrees -360.0 elbow_joint: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 430.0 + max_effort: 433.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical # construction of the robot, it's impossible to rotate the 'elbow_joint' @@ -42,36 +42,36 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: !degrees 170.0 + max_position: !degrees 180.0 max_velocity: !degrees 150.0 - min_position: !degrees 0.0 + min_position: !degrees -180.0 wrist_1: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 100.0 - max_position: !degrees 170.0 + max_effort: 107.0 + max_position: !degrees 360.0 max_velocity: !degrees 210.0 - min_position: !degrees -170.0 + min_position: !degrees -360.0 wrist_2: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 100.0 - max_position: !degrees 170.0 + max_effort: 107.0 + max_position: !degrees 360.0 max_velocity: !degrees 210.0 - min_position: !degrees 30 + min_position: !degrees -360.0 wrist_3: # acceleration limits are not publicly available has_acceleration_limits: false has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 100.0 - max_position: !degrees 170.0 + max_effort: 107.0 + max_position: !degrees 360.0 max_velocity: !degrees 210.0 - min_position: !degrees -170.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur30/physical_parameters.yaml b/ur_description/config/ur30/physical_parameters.yaml index 4273b0439..ca80fd5e5 100644 --- a/ur_description/config/ur30/physical_parameters.yaml +++ b/ur_description/config/ur30/physical_parameters.yaml @@ -1,27 +1,18 @@ # Physical parameters -# from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ -dh_parameters: - d1: 0.2363 - a2: -0.8620 - a3: -0.7287 - d4: 0.201 - d5: 0.1593 - d6: 0.1543 offsets: shoulder_offset: 0.260 # measured from model elbow_offset: 0.043 # measured from model inertia_parameters: - # taken from https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/ + # taken from https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ base_mass: 4.0 # This mass might be incorrect shoulder_mass: 16.343 - upper_arm_mass: 29.632 - upper_arm_inertia_offset: 0.275 # measured from model - forearm_mass: 7.879 + upper_arm_mass: 28.542 + forearm_mass: 7.156 wrist_1_mass: 3.054 wrist_2_mass: 3.126 - wrist_3_mass: 0.846 + wrist_3_mass: 0.926 shoulder_radius: x0.060 # FROM UR5 CURRENTLY NOT USED ANYMORE upper_arm_radius: x0.054 # FROM UR5 CURRENTLY NOT USED ANYMORE @@ -33,47 +24,99 @@ inertia_parameters: base: radius: 0.075 length: 0.038 - shoulder: - radius: 0.075 - length: 0.178 - upperarm: - radius: 0.075 - length: 0.637 - forearm: - radius: 0.075 - length: 0.5037 - wrist_1: - radius: 0.075 - length: 0.12 - wrist_2: - radius: 0.075 - length: 0.12 - wrist_3: - radius: 0.045 - length: 0.05 - center_of_mass: # Adjusted manually + center_of_mass: shoulder_cog: - x: 0.0 - y: 0.00244 - z: -0.037 + x: -0.0001 # model.x + y: -0.0069 # -model.z + z: -0.06 # model.y upper_arm_cog: - x: 0.00001 - y: 0.15061 - z: 0.40757 + x: -0.2476 # model.x - upperarm_length + y: 0.0 # model.y + z: 0.2103 # model.z forearm_cog: - x: -0.00012 - y: 0.06112 - z: 0.2084 + x: -0.278 # model.x - forearm_length + y: 0.0 # model.y + z: 0.0629 # model.z wrist_1_cog: - x: -0.00021 - y: -0.00112 - z: 0.02269 + x: 0.0 # model.x + y: -0.0353 # -model.z + z: -0.0048 # model.y wrist_2_cog: - x: -0.00021 - y: 0.00112 - z: 0.002269 + x: 0.0 # model.x + y: 0.0341 # model.z + z: -0.0046 # -model.y wrist_3_cog: - x: 0.0 - y: -0.001156 - z: -0.00149 + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.0293 # model.z + + rotation: + shoulder: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 0 + yaw: 0 + forearm: + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + wrist_2: + roll: -1.570796326794897 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + tensor: + shoulder: + ixx: 0.03351 + ixy: 0.00002 + ixz: -0.00001 + iyy: 0.03374 + iyz: 0.00374 + izz: 0.02100 + upper_arm: + ixx: 0.02796 + ixy: -0.00010 + ixz: -0.00720 + iyy: 0.47558 + iyz: 0.00003 + izz: 0.47635 + forearm: + ixx: 0.01091 + ixy: 0.00006 + ixz: 0.01012 + iyy: 0.12060 + iyz: 0.00001 + izz: 0.11714 + wrist_1: + ixx: 0.00609 + ixy: -0.00001 + ixz: 0.0 + iyy: 0.00245 + iyz: 0.00083 + izz: 0.00579 + wrist_2: + ixx: 0.00389 + ixy: 0.00001 + ixz: 0.0 + iyy: 0.00219 + iyz: -0.00045 + izz: 0.00363 + wrist_3: + ixx: 0.00117 + ixy: 0.0 + ixz: 0.0 + iyy: 0.00118 + iyz: 0.0 + izz: 0.00084 diff --git a/ur_description/config/ur3e/joint_limits.yaml b/ur_description/config/ur3e/joint_limits.yaml index 85b6f644f..29dd018be 100644 --- a/ur_description/config/ur3e/joint_limits.yaml +++ b/ur_description/config/ur3e/joint_limits.yaml @@ -14,7 +14,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 56.0 + max_effort: 54.0 max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 @@ -24,7 +24,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 56.0 + max_effort: 54.0 max_position: !degrees 360.0 max_velocity: !degrees 180.0 min_position: !degrees -360.0 @@ -54,7 +54,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 12.0 + max_effort: 9.0 max_position: !degrees 360.0 max_velocity: !degrees 360.0 min_position: !degrees -360.0 @@ -64,7 +64,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 12.0 + max_effort: 9.0 max_position: !degrees 360.0 max_velocity: !degrees 360.0 min_position: !degrees -360.0 @@ -74,7 +74,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_effort: 12.0 + max_effort: 9.0 max_position: !degrees 360.0 max_velocity: !degrees 360.0 min_position: !degrees -360.0 diff --git a/ur_description/config/ur3e/physical_parameters.yaml b/ur_description/config/ur3e/physical_parameters.yaml index 337c1f24f..45050924d 100644 --- a/ur_description/config/ur3e/physical_parameters.yaml +++ b/ur_description/config/ur3e/physical_parameters.yaml @@ -1,26 +1,17 @@ # Physical parameters -dh_parameters: - d1: 0.152 - a2: -0.244 - a3: -0.213 - d4: 0.131 # wrist1_length = d4 - elbow_offset - shoulder_offset - d5: 0.085 - d6: 0.092 - offsets: shoulder_offset: 0.120 # measured from model elbow_offset: 0.027 # measured from model inertia_parameters: base_mass: 2.0 # This mass might be incorrect - shoulder_mass: 2.0 - upper_arm_mass: 3.42 - upper_arm_inertia_offset: 0.12 # measured from model - forearm_mass: 1.26 - wrist_1_mass: 0.8 - wrist_2_mass: 0.8 - wrist_3_mass: 0.35 + shoulder_mass: 1.98 + upper_arm_mass: 3.4445 + forearm_mass: 1.437 + wrist_1_mass: 0.871 + wrist_2_mass: 0.805 + wrist_3_mass: 0.261 shoulder_radius: 0.060 # manually measured upper_arm_radius: 0.054 # manually measured @@ -32,47 +23,100 @@ inertia_parameters: base: radius: 0.075 length: 0.038 - shoulder: - radius: 0.075 - length: 0.178 - upperarm: - radius: 0.075 - length: 0.24365 - forearm: - radius: 0.075 - length: 0.2132 - wrist_1: - radius: 0.075 - length: 0.12 - wrist_2: - radius: 0.075 - length: 0.12 - wrist_3: - radius: 0.032 - length: 0.04 + # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ center_of_mass: shoulder_cog: - x: 0.0 - y: -0.02 - z: 0.0 + x: 0.0 # model.x + y: 0.0 # -model.z + z: -0.02 # model.y upper_arm_cog: - x: 0.13 - y: 0.0 - z: 0.1157 + x: -0.11355 # model.x - upper_arm_length + y: 0.0 # model.y + z: 0.1157 # model.z forearm_cog: - x: 0.05 - y: 0.0 - z: 0.0238 + x: -0.1632 # model.x - forearm_length + y: 0.0 # model.y + z: 0.0238 # model.z wrist_1_cog: - x: 0.0 - y: 0.0 - z: 0.01 + x: 0.0 # model.x + y: -0.01 # -model.z + z: 0.0 # model.y wrist_2_cog: - x: 0.0 - y: 0.0 - z: 0.01 + x: 0.0 # model.x + y: 0.01 # model.z + z: 0.0 # -model.y wrist_3_cog: - x: 0.0 - y: 0.0 - z: -0.02 + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.02 # model.z + + rotation: + shoulder: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 0 + yaw: 0 + forearm: + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + wrist_2: + roll: -1.570796326794897 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + tensor: + shoulder: + ixx: 0.0027657 + ixy: 0.0000096 + ixz: -0.0000149 + iyy: 0.0021501 + iyz: 0.0001873 + izz: 0.0025626 + upper_arm: + ixx: 0.0042623 + ixy: -0.0000409 + ixz: -0.0014960 + iyy: 0.0460284 + iyz: -0.0000129 + izz: 0.0448947 + forearm: + ixx: 0.0010511 + ixy: 0.0 + ixz: -0.0000331 + iyy: 0.0113396 + iyz: 0.0000022 + izz: 0.0110895 + wrist_1: + ixx: 0.0008174 + ixy: -0.0000005 + ixz: 0.0000021 + iyy: 0.0006844 + iyz: 0.0000617 + izz: 0.0005497 + wrist_2: + ixx: 0.0006059 + ixy: -0.0000006 + ixz: -0.0000006 + iyy: 0.0005837 + iyz: -0.0000271 + izz: 0.0003831 + wrist_3: + ixx: 0.0001080 + ixy: -0.0000001 + ixz: -0.0000001 + iyy: 0.0001086 + iyz: -0.0000002 + izz: 0.0001371 diff --git a/ur_description/config/ur5/joint_limits.yaml b/ur_description/config/ur5/joint_limits.yaml index 3a6ad9d89..28eacc3d9 100644 --- a/ur_description/config/ur5/joint_limits.yaml +++ b/ur_description/config/ur5/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 150.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 shoulder_lift: # acceleration limits are not publicly available has_acceleration_limits: false @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 150.0 - max_position: !degrees 0.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 elbow_joint: # acceleration limits are not publicly available has_acceleration_limits: false @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees 0.0 + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 wrist_1: # acceleration limits are not publicly available has_acceleration_limits: false @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 wrist_2: # acceleration limits are not publicly available has_acceleration_limits: false @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees 30 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 wrist_3: # acceleration limits are not publicly available has_acceleration_limits: false @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur5/physical_parameters.yaml b/ur_description/config/ur5/physical_parameters.yaml index 9d0a4030d..ad916a614 100644 --- a/ur_description/config/ur5/physical_parameters.yaml +++ b/ur_description/config/ur5/physical_parameters.yaml @@ -1,13 +1,5 @@ # Physical parameters -dh_parameters: - d1: 0.089159 - a2: -0.42500 - a3: -0.39225 - d4: 0.10915 - d5: 0.09465 - d6: 0.0823 - offsets: shoulder_offset: 0.13585 # measured from model elbow_offset: 0.0165 # measured from model @@ -16,8 +8,7 @@ inertia_parameters: base_mass: 4.0 # This mass might be incorrect shoulder_mass: 3.7000 upper_arm_mass: 8.3930 - upper_arm_inertia_offset: 0.136 - forearm_mass: 2.2750 + forearm_mass: 2.33 wrist_1_mass: 1.2190 wrist_2_mass: 1.2190 wrist_3_mass: 0.1879 @@ -32,56 +23,101 @@ inertia_parameters: base: radius: 0.06 length: 0.05 - shoulder: - radius: 0.075 - length: 0.178 - upperarm: - radius: 0.06 - length: 0.425 - forearm: - radius: 0.06 - length: 0.39225 - wrist_1: - radius: 0.06 - length: 0.12 - wrist_2: - radius: 0.06 - length: 0.12 - wrist_3: - radius: 0.0375 - length: 0.0345 - wrist_1: - radius: 0.06 - length: 0.095 - wrist_2: - radius: 0.06 - length: 0.085 - wrist_3: - radius: 0.0375 - length: 0.0305 center_of_mass: shoulder_cog: - x: 0.0 - y: 0.00193 - z: -0.02561 + x: 0.0 # model.x + y: -0.00193 # -model.z + z: -0.02561 # model.y upper_arm_cog: - x: 0.0 - y: -0.024201 - z: 0.2125 + x: -0.2125 # model.x - upper_arm_length + y: 0.0 # model.y + z: 0.11336 # model.z forearm_cog: - x: 0.0 - y: 0.0265 - z: 0.11993 + x: -0.24225 # model.x - forearm_length + y: 0.0 # model.y + z: 0.0265 # model.z wrist_1_cog: - x: 0.0 - y: 0.110949 - z: 0.01634 + x: 0.0 # model.x + y: -0.01634 # -model.z + z: -0.0018 # model.y wrist_2_cog: - x: 0.0 - y: 0.0018 - z: 0.11099 + x: 0.0 # model.x + y: 0.01634 # model.z + z: -0.0018 # -model.y wrist_3_cog: - x: 0.0 - y: 0.001159 - z: 0.0 + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.001159 # model.z + + # compatible with cylinder approximation + rotation: + shoulder: + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 1.570796326794897 + yaw: 0 + forearm: + roll: 0 + pitch: 1.570796326794897 + yaw: 0 + wrist_1: + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + roll: 0 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + # generated using cylinder approximation + tensor: + shoulder: + ixx: 0.014972358333333331 + ixy: 0 + ixz: 0 + iyy: 0.014972358333333331 + iyz: 0 + izz: 0.01040625 + upper_arm: + ixx: 0.13388583541666665 + ixy: 0 + ixz: 0 + iyy: 0.13388583541666665 + iyz: 0 + izz: 0.0151074 + forearm: + ixx: 0.031216803515624995 + ixy: 0 + ixz: 0 + iyy: 0.031216803515624995 + iyz: 0 + izz: 0.004095 + wrist_1: + ixx: 0.002013889583333333 + ixy: 0 + ixz: 0 + iyy: 0.002013889583333333 + iyz: 0 + izz: 0.0021942 + wrist_2: + ixx: 0.0018310395833333333 + ixy: 0 + ixz: 0 + iyy: 0.0018310395833333333 + iyz: 0 + izz: 0.0021942 + wrist_3: + ixx: 8.062475833333332e-05 + ixy: 0 + ixz: 0 + iyy: 8.062475833333332e-05 + iyz: 0 + izz: 0.0001321171875 diff --git a/ur_description/config/ur5e/joint_limits.yaml b/ur_description/config/ur5e/joint_limits.yaml index 944d901e0..dddc059a8 100644 --- a/ur_description/config/ur5e/joint_limits.yaml +++ b/ur_description/config/ur5e/joint_limits.yaml @@ -15,9 +15,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 150.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 shoulder_lift: # acceleration limits are not publicly available has_acceleration_limits: false @@ -25,9 +25,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 150.0 - max_position: !degrees 0.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 elbow_joint: # acceleration limits are not publicly available has_acceleration_limits: false @@ -45,9 +45,9 @@ joint_limits: # # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for # more information. - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees 0.0 + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 wrist_1: # acceleration limits are not publicly available has_acceleration_limits: false @@ -55,9 +55,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 wrist_2: # acceleration limits are not publicly available has_acceleration_limits: false @@ -65,9 +65,9 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees 30 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 wrist_3: # acceleration limits are not publicly available has_acceleration_limits: false @@ -75,6 +75,6 @@ joint_limits: has_position_limits: true has_velocity_limits: true max_effort: 28.0 - max_position: !degrees 170.0 - max_velocity: !degrees 120.0 - min_position: !degrees -170.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur5e/physical_parameters.yaml b/ur_description/config/ur5e/physical_parameters.yaml index 8955ed24d..553e335ab 100644 --- a/ur_description/config/ur5e/physical_parameters.yaml +++ b/ur_description/config/ur5e/physical_parameters.yaml @@ -1,26 +1,17 @@ # Physical parameters -dh_parameters: - d1: 0.163 - a2: -0.42500 - a3: -0.39225 - d4: 0.134 # wrist1_length = d4 - elbow_offset - shoulder_offset - d5: 0.100 - d6: 0.100 - offsets: shoulder_offset: 0.138 # measured from model elbow_offset: 0.007 # measured from model inertia_parameters: base_mass: 4.0 # This mass might be incorrect - shoulder_mass: 3.7000 - upper_arm_mass: 8.3930 - upper_arm_inertia_offset: 0.138 # measured from model - forearm_mass: 2.2750 - wrist_1_mass: 1.2190 - wrist_2_mass: 1.2190 - wrist_3_mass: 0.1879 + shoulder_mass: 3.761 + upper_arm_mass: 8.058 + forearm_mass: 2.846 + wrist_1_mass: 1.37 + wrist_2_mass: 1.3 + wrist_3_mass: 0.365 shoulder_radius: 0.060 # manually measured upper_arm_radius: 0.054 # manually measured @@ -32,47 +23,100 @@ inertia_parameters: base: radius: 0.06 length: 0.05 - shoulder: - radius: 0.06 - length: 0.15 - upperarm: - radius: 0.06 - length: 0.425 - forearm: - radius: 0.06 - length: 0.3922 - wrist_1: - radius: 0.06 - length: 0.12 - wrist_2: - radius: 0.06 - length: 0.12 - wrist_3: - radius: 0.0375 - length: 0.0458 + # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ center_of_mass: shoulder_cog: - x: 0.0 - y: 0.00193 - z: -0.02561 + x: 0.0 # model.x + y: -0.00193 # -model.z + z: -0.02561 # model.y upper_arm_cog: - x: 0.0 - y: -0.024201 - z: 0.2125 + x: -0.2125 # model.x - upper_arm_length + y: 0.0 # model.y + z: 0.11336 # model.z forearm_cog: - x: 0.0 - y: 0.0265 - z: 0.11993 + x: -0.2422 # model.x - forearm_length + y: 0.0 # model.y + z: 0.0265 # model.z wrist_1_cog: - x: 0.0 - y: 0.110949 - z: 0.01634 + x: 0.0 # model.x + y: -0.01634 # -model.z + z: -0.0018 # model.y wrist_2_cog: - x: 0.0 - y: 0.0018 - z: 0.11099 + x: 0.0 # model.x + y: 0.01634 # model.z + z: -0.0018 # -model.y wrist_3_cog: - x: 0.0 - y: 0.001159 - z: 0.0 + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.001159 # model.z + + rotation: + shoulder: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 0 + yaw: 0 + forearm: + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + roll: 1.570796326794897 + pitch: 0 + yaw: 0 + wrist_2: + roll: -1.570796326794897 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + tensor: + shoulder: + ixx: 0.00700210 + ixy: 0.00000073 + ixz: -0.00001053 + iyy: 0.00648091 + iyz: 0.00049994 + izz: 0.00657286 + upper_arm: + ixx: 0.01505885 + ixy: -0.00005400 + ixz: 0.00000563 + iyy: 0.33388086 + iyz: -0.00000181 + izz: 0.33247207 + forearm: + ixx: 0.00399632 + ixy: -0.00001365 + ixz: 0.00137272 + iyy: 0.07879254 + iyz: -0.00000660 + izz: 0.07848510 + wrist_1: + ixx: 0.00165491 + ixy: -0.00000282 + ixz: -0.00000438 + iyy: 0.00135962 + iyz: 0.00010157 + izz: 0.00126279 + wrist_2: + ixx: 0.00135617 + ixy: -0.00000274 + ixz: 0.00000444 + iyy: 0.00127827 + iyz: -0.00005048 + izz: 0.00096614 + wrist_3: + ixx: 0.00018694 + ixy: 0.00000006 + ixz: -0.00000017 + iyy: 0.00018908 + iyz: -0.00000092 + izz: 0.00025756 diff --git a/ur_description/config/ur7e/default_kinematics.yaml b/ur_description/config/ur7e/default_kinematics.yaml new file mode 100644 index 000000000..e89032eec --- /dev/null +++ b/ur_description/config/ur7e/default_kinematics.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1625 + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + x: 0 + y: 0 + z: 0 + roll: 1.570796327 + pitch: 0 + yaw: 0 + forearm: + x: -0.425 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + wrist_1: + x: -0.3922 + y: 0 + z: 0.1333 + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + x: 0 + y: -0.0997 + z: -2.044881182297852e-11 + roll: 1.570796327 + pitch: 0 + yaw: 0 + wrist_3: + x: 0 + y: 0.09959999999999999 + z: -2.042830148012698e-11 + roll: 1.570796326589793 + pitch: 3.141592653589793 + yaw: 3.141592653589793 + hash: calib_12788084448423163542 \ No newline at end of file diff --git a/ur_description/config/ur7e/joint_limits.yaml b/ur_description/config/ur7e/joint_limits.yaml new file mode 100644 index 000000000..dddc059a8 --- /dev/null +++ b/ur_description/config/ur7e/joint_limits.yaml @@ -0,0 +1,80 @@ +# Joints limits +# +# Sources: +# +# - Universal Robots e-Series, User Manual, UR5e, Version 5.8 +# https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf +# - Support > Articles > UR articles > Max. joint torques +# https://www.universal-robots.com/articles/ur-articles/max-joint-torques +# retrieved: 2020-06-16, last modified: 2020-06-09 +joint_limits: + shoulder_pan: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + elbow_joint: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 150.0 + # we artificially limit this joint to half its actual joint position limit + # to avoid (MoveIt/OMPL) planning problems, as due to the physical + # construction of the robot, it's impossible to rotate the 'elbow_joint' + # over more than approx +- 1 pi (the shoulder lift joint gets in the way). + # + # This leads to planning problems as the search space will be divided into + # two sections, with no connections from one to the other. + # + # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for + # more information. + max_position: !degrees 180.0 + max_velocity: !degrees 180.0 + min_position: !degrees -180.0 + wrist_1: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_2: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + wrist_3: + # acceleration limits are not publicly available + has_acceleration_limits: false + has_effort_limits: true + has_position_limits: true + has_velocity_limits: true + max_effort: 28.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 diff --git a/ur_description/config/ur7e/physical_parameters.yaml b/ur_description/config/ur7e/physical_parameters.yaml new file mode 100644 index 000000000..8779dbeb3 --- /dev/null +++ b/ur_description/config/ur7e/physical_parameters.yaml @@ -0,0 +1,124 @@ +# Physical parameters + +offsets: + shoulder_offset: 0.138 # measured from model + elbow_offset: 0.007 # measured from model + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 3.761 + upper_arm_mass: 8.058 + forearm_mass: 2.846 + wrist_1_mass: 1.37 + wrist_2_mass: 1.3 + wrist_3_mass: 0.365 + + shoulder_radius: 0.060 # manually measured + upper_arm_radius: 0.054 # manually measured + elbow_radius: 0.060 # manually measured + forearm_radius: 0.040 # manually measured + wrist_radius: 0.045 # manually measured + + links: + base: + radius: 0.06 + length: 0.05 + + # model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ + center_of_mass: + shoulder_cog: + x: 0.0 # model.x + y: -0.00193 # -model.z + z: -0.02561 # model.y + upper_arm_cog: + x: -0.2125 # model.x - upper_arm_length + y: 0.0 # model.y + z: 0.11336 # model.z + forearm_cog: + x: -0.2422 # model.x - forearm_length + y: 0.0 # model.y + z: 0.0265 # model.z + wrist_1_cog: + x: 0.0 # model.x + y: -0.01634 # -model.z + z: -0.0018 # model.y + wrist_2_cog: + x: 0.0 # model.x + y: 0.01634 # model.z + z: -0.0018 # -model.y + wrist_3_cog: + x: 0.0 # model.x + y: 0.0 # model.y + z: -0.001159 # model.z + + # compatible with cylinder approximation + rotation: + shoulder: + roll: 0 + pitch: 0 + yaw: 0 + upper_arm: + roll: 0 + pitch: 1.570796326794897 + yaw: 0 + forearm: + roll: 0 + pitch: 1.570796326794897 + yaw: 0 + wrist_1: + roll: 0 + pitch: 0 + yaw: 0 + wrist_2: + roll: 0 + pitch: 0 + yaw: 0 + wrist_3: + roll: 0 + pitch: 0 + yaw: 0 + + # generated using cylinder approximation + tensor: + shoulder: + ixx: 0.010267499999999999 + ixy: 0 + ixz: 0 + iyy: 0.010267499999999999 + iyz: 0 + izz: 0.00666 + upper_arm: + ixx: 0.13388583541666665 + ixy: 0 + ixz: 0 + iyy: 0.13388583541666665 + iyz: 0 + izz: 0.0151074 + forearm: + ixx: 0.03120936758333333 + ixy: 0 + ixz: 0 + iyy: 0.03120936758333333 + iyz: 0 + izz: 0.004095 + wrist_1: + ixx: 0.0025599 + ixy: 0 + ixz: 0 + iyy: 0.0025599 + iyz: 0 + izz: 0.0021942 + wrist_2: + ixx: 0.0025599 + ixy: 0 + ixz: 0 + iyy: 0.0025599 + iyz: 0 + izz: 0.0021942 + wrist_3: + ixx: 9.890414008333333e-05 + ixy: 0 + ixz: 0 + iyy: 9.890414008333333e-05 + iyz: 0 + izz: 0.0001321171875 diff --git a/ur_description/config/ur7e/visual_parameters.yaml b/ur_description/config/ur7e/visual_parameters.yaml new file mode 100644 index 000000000..6d0156a59 --- /dev/null +++ b/ur_description/config/ur7e/visual_parameters.yaml @@ -0,0 +1,67 @@ +mesh_files: + base: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/base.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/base.stl" + + shoulder: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/shoulder.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/shoulder.stl" + + upper_arm: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/upperarm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/upperarm.stl" + mesh_files: + + forearm: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/forearm.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/forearm.stl" + + wrist_1: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/wrist1.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/wrist1.stl" + visual_offset: -0.127 + + wrist_2: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/wrist2.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/wrist2.stl" + visual_offset: -0.0997 + + wrist_3: + visual: + mesh: "package://ur_description/meshes/ur5e/visual/wrist3.dae" + material: + name: "LightGrey" + color: "0.7 0.7 0.7 1.0" + collision: + mesh: "package://ur_description/meshes/ur5e/collision/wrist3.stl" + visual_offset: -0.0989 diff --git a/ur_description/launch/load_ur12e.launch b/ur_description/launch/load_ur12e.launch new file mode 100644 index 000000000..e3e2e7f1a --- /dev/null +++ b/ur_description/launch/load_ur12e.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur15.launch b/ur_description/launch/load_ur15.launch new file mode 100644 index 000000000..d4011c3ff --- /dev/null +++ b/ur_description/launch/load_ur15.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/load_ur7e.launch b/ur_description/launch/load_ur7e.launch new file mode 100644 index 000000000..96ab2cdad --- /dev/null +++ b/ur_description/launch/load_ur7e.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ur_description/launch/view_ur12e.launch b/ur_description/launch/view_ur12e.launch new file mode 100644 index 000000000..d23b172bf --- /dev/null +++ b/ur_description/launch/view_ur12e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/launch/view_ur15.launch b/ur_description/launch/view_ur15.launch new file mode 100644 index 000000000..3bdc0d869 --- /dev/null +++ b/ur_description/launch/view_ur15.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/launch/view_ur7e.launch b/ur_description/launch/view_ur7e.launch new file mode 100644 index 000000000..c9e82c8bc --- /dev/null +++ b/ur_description/launch/view_ur7e.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ur_description/meshes/ur15/LICENSE.txt b/ur_description/meshes/ur15/LICENSE.txt new file mode 100644 index 000000000..cba4e38af --- /dev/null +++ b/ur_description/meshes/ur15/LICENSE.txt @@ -0,0 +1,84 @@ +TERMS AND CONDITIONS FOR USE OF GRAPHICAL DOCUMENTATION + +Version: 1.01 / release date: 2023-09-12 + +These Terms and Conditions for Use of Graphical Documentation (the “T&Cs”) govern your use of graphical files and documents*, including the contents hereof, (the “Graphical Documentation”) provided or made available to you by Universal Robots A/S (“Universal Robots”) for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products. 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You shall defend, indemnify, and hold Universal Robots and its affiliates, employees, and agents harmless, from and against all sums, claims, costs, duties, liabilities, losses, obligations, suits, actions, damages, penalties, awards, fines, interest, and other expenses (including investigation expenses and attorneys’ fees) that Universal Robots may incur or be obligated to pay as a result of your unauthorized use, modification, resale, transfer, shipment, or export of the Graphical Documentation. + + +5. MISCELLANEOUS + +5.1. Entire Agreement. Except as otherwise explicitly provided for herein, the T&Cs constitute the entire agreement and supersedes all prior negotiations, promises, understandings, and agreements between the parties with respect to the subject matter hereof. + +5.2. Changes to the T&Cs. Universal Robots reserves the right, in its sole and absolute discretion, to change the terms of the T&Cs by providing you with ninety (90) days’ notice. + +5.3. 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The parties expressly disclaim the applicability of the United Nations Convention on Contracts for the International Sale of Goods. + +8.2. Any and all disputes arising out of or in connection with the T&Cs shall be submitted to the International Chamber of Commerce and shall be settled under the Rules of Arbitration of the International Chamber of Commerce by one (1) arbitrator appointed in accordance with said Rules. The place of arbitration shall be Copenhagen, Denmark. The arbitration shall be conducted in the English language. 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3185 1107 146 3186 3186 1108 146 3187 3187 1215 146 3188 3188 1108 935 3189 3189 1110 935 3190 3190 1215 935 3191 3191 1110 936 3192 3192 1113 936 3193 3193 1215 936 3194 3194 1113 146 3195 3195 1114 146 3196 3196 1215 146 3197 3197 1215 937 3198 3198 1114 937 3199 3199 1217 937 3200 3200 1114 938 3201 3201 1116 938 3202 3202 1217 938 3203 3203 1217 146 3204 3204 1116 146 3205 3205 1219 146 3206 3206 1117 836 3207 3207 1118 837 3208 3208 1218 939 3209 3209 1118 837 3210 3210 1121 841 3211 3211 1218 939 3212 3212 1121 841 3213 3213 1123 843 3214 3214 1218 939 3215 3215 1122 146 3216 3216 203 146 3217 3217 1219 146 3218 3218 203 940 3219 3219 178 940 3220 3220 1219 940 3221 3221 178 941 3222 3222 180 941 3223 3223 1219 941 3224 3224 1219 146 3225 3225 180 146 3226 3226 1220 146 3227 3227 181 163 3228 3228 182 164 3229 3229 1221 942 3230 3230 182 164 3231 3231 184 943 3232 3232 1221 942 3233 3233 1221 942 3234 3234 184 943 3235 3235 1223 944 3236 3236 184 943 3237 3237 186 945 3238 3238 1223 944 3239 3239 1223 944 3240 3240 186 945 3241 3241 1225 946 3242 3242 186 945 3243 3243 189 947 3244 3244 1225 946 3245 3245 1225 946 3246 3246 189 947 3247 3247 1227 948 3248 3248 1227 948 3249 3249 189 947 3250 3250 1229 949 3251 3251 189 947 3252 3252 191 950 3253 3253 1229 949 3254 3254 1229 949 3255 3255 191 950 3256 3256 1231 951 3257 3257 191 950 3258 3258 194 952 3259 3259 1231 951 3260 3260 1231 951 3261 3261 194 952 3262 3262 1232 953 3263 3263 194 952 3264 3264 197 181 3265 3265 1232 953 3266 3266 197 181 3267 3267 199 183 3268 3268 1232 953 3269 3269 1233 954 3270 3270 198 954 3271 3271 1234 954 3272 3272 198 146 3273 3273 200 146 3274 3274 1234 146 3275 3275 200 146 3276 3276 203 146 3277 3277 1234 146 3278 3278 203 146 3279 3279 1122 146 3280 3280 1234 146 3281 3281 1123 843 3282 3282 1124 844 3283 3283 1235 955 3284 3284 1124 844 3285 3285 1126 956 3286 3286 1235 955 3287 3287 1235 955 3288 3288 1126 956 3289 3289 1237 957 3290 3290 1126 956 3291 3291 1128 958 3292 3292 1237 957 3293 3293 1237 957 3294 3294 1128 958 3295 3295 1238 959 3296 3296 1128 958 3297 3297 1131 852 3298 3298 1238 959 3299 3299 1131 852 3300 3300 1132 853 3301 3301 1238 959 3302 3302 1133 146 3303 3303 1134 146 3304 3304 1239 146 3305 3305 1239 146 3306 3306 1134 146 3307 3307 1240 146 3308 3308 1135 855 3309 3309 1136 856 3310 3310 1241 960 3311 3311 1136 856 3312 3312 1138 961 3313 3313 1241 960 3314 3314 1241 960 3315 3315 1138 961 3316 3316 1243 962 3317 3317 1138 961 3318 3318 1140 963 3319 3319 1243 962 3320 3320 1243 962 3321 3321 1140 963 3322 3322 1244 964 3323 3323 1140 963 3324 3324 1144 864 3325 3325 1244 964 3326 3326 1144 864 3327 3327 1146 866 3328 3328 1244 964 3329 3329 1245 965 3330 3330 1145 965 3331 3331 1247 965 3332 3332 1145 966 3333 3333 1147 966 3334 3334 1247 966 3335 3335 1247 146 3336 3336 1147 146 3337 3337 1248 146 3338 3338 1147 146 3339 3339 1149 146 3340 3340 1248 146 3341 3341 1149 146 3342 3342 1152 146 3343 3343 1248 146 3344 3344 1152 146 3345 3345 1153 146 3346 3346 1248 146 3347 3347 1249 967 3348 3348 1154 874 3349 3349 1250 968 3350 3350 1154 874 3351 3351 1155 875 3352 3352 1250 968 3353 3353 1251 969 3354 3354 1156 877 3355 3355 1252 970 3356 3356 1156 877 3357 3357 1158 876 3358 3358 1252 970 3359 3359 1253 971 3360 3360 1157 971 3361 3361 1255 971 3362 3362 1255 146 3363 3363 1157 146 3364 3364 1257 146 3365 3365 1157 146 3366 3366 1159 146 3367 3367 1257 146 3368 3368 1257 972 3369 3369 1159 972 3370 3370 1259 972 3371 3371 1159 146 3372 3372 1161 146 3373 3373 1259 146 3374 3374 1259 973 3375 3375 1161 973 3376 3376 1261 973 3377 3377 1261 974 3378 3378 1161 974 3379 3379 1263 974 3380 3380 1161 146 3381 3381 1163 146 3382 3382 1263 146 3383 3383 1163 146 3384 3384 1165 146 3385 3385 1263 146 3386 3386 1263 975 3387 3387 1165 975 3388 3388 1265 975 3389 3389 1265 976 3390 3390 1165 976 3391 3391 1267 976 3392 3392 1165 146 3393 3393 1167 146 3394 3394 1267 146 3395 3395 1267 977 3396 3396 1167 977 3397 3397 1269 977 3398 3398 1167 146 3399 3399 1169 146 3400 3400 1269 146 3401 3401 1269 146 3402 3402 1169 146 3403 3403 1271 146 3404 3404 1169 978 3405 3405 1171 978 3406 3406 1271 978 3407 3407 1271 979 3408 3408 1171 979 3409 3409 1273 979 3410 3410 1171 980 3411 3411 1173 980 3412 3412 1273 980 3413 3413 1273 981 3414 3414 1173 981 3415 3415 1275 981 3416 3416 1173 146 3417 3417 1175 146 3418 3418 1275 146 3419 3419 1275 982 3420 3420 1175 982 3421 3421 1277 982 3422 3422 1175 146 3423 3423 1177 146 3424 3424 1277 146 3425 3425 1277 983 3426 3426 1177 983 3427 3427 1279 983 3428 3428 1177 146 3429 3429 1179 146 3430 3430 1279 146 3431 3431 1179 146 3432 3432 1181 146 3433 3433 1279 146 3434 3434 1279 146 3435 3435 1181 146 3436 3436 1281 146 3437 3437 1281 146 3438 3438 1181 146 3439 3439 1283 146 3440 3440 1181 146 3441 3441 1184 146 3442 3442 1283 146 3443 3443 1184 984 3444 3444 1186 984 3445 3445 1283 984 3446 3446 1283 146 3447 3447 1186 146 3448 3448 1285 146 3449 3449 1186 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2734 630 563 2735 2735 381 323 2736 2736 630 563 2737 2737 380 324 2738 2738 366 327 2739 2739 632 560 2740 2740 631 562 2741 2741 366 327 2742 2742 631 562 2743 2743 381 323 2744 2744 379 623 2745 2745 634 558 2746 2746 633 559 2747 2747 379 623 2748 2748 633 559 2749 2749 367 624 2750 2750 377 431 2751 2751 635 557 2752 2752 634 558 2753 2753 377 431 2754 2754 634 558 2755 2755 379 623 2756 2756 375 425 2757 2757 636 556 2758 2758 635 557 2759 2759 375 425 2760 2760 635 557 2761 2761 377 431 2762 2762 374 421 2763 2763 637 555 2764 2764 636 556 2765 2765 374 421 2766 2766 636 556 2767 2767 375 425 2768 2768 364 622 2769 2769 625 553 2770 2770 622 554 2771 2771 364 622 2772 2772 622 554 2773 2773 370 414 2774 2774 507 625 2775 2775 509 626 2776 2776 511 627 2777 2777 488 628 2778 2778 486 629 2779 2779 513 630 2780 2780 488 628 2781 2781 513 630 2782 2782 500 631 2783 2783 486 629 2784 2784 503 632 2785 2785 517 633 2786 2786 486 629 2787 2787 517 633 2788 2788 513 630 2789 2789 503 632 2790 2790 505 634 2791 2791 515 635 2792 2792 503 632 2793 2793 515 635 2794 2794 517 633 2795 2795 488 628 2796 2796 500 631 2797 2797 518 636 2798 2798 488 628 2799 2799 518 636 2800 2800 490 637 2801 2801 490 637 2802 2802 518 636 2803 2803 498 516 2804 2804 490 637 2805 2805 498 516 2806 2806 492 515 2807 2807 505 634 2808 2808 507 625 2809 2809 511 627 2810 2810 505 634 2811 2811 511 627 2812 2812 515 635 2813 2813

 - - - 1 0 0 0.03485537 0 1 0 -0.8024882 0 0 1 1.230019 0 0 0 1 - - - - 0.9999999 0 0 1.13982e-4 0 1 0 -0.130152 0 0 1 0 0 0 0 1 - - - + 0.9999999 0 0 1.13982e-4 0 1 0 -0.130152 0 0 1 0 0 0 0 1 - + - + @@ -360,19 +288,31 @@ - + - + 0.9999999 0 0 1.13982e-4 0 1 0 -0.130152 0 0 1 0 0 0 0 1 - + + + + + + + + + + + + 0.9999999 0 0 1.13982e-4 0 1 0 -0.130152 0 0 1 0 0 0 0 1 + - + diff --git a/ur_description/package.xml b/ur_description/package.xml index f969ce51d..c11e53604 100644 --- a/ur_description/package.xml +++ b/ur_description/package.xml @@ -2,9 +2,9 @@ ur_description - 1.3.3 + 1.5.0 - URDF description for Universal UR3(e), UR5(e), UR10(e), UR16e, UR20 and UR30 robots + URDF description for Universal UR3(e), UR5(e), UR7e, UR10(e), UR12e UR16e, UR15, UR20 and UR30 robots Wim Meeussen @@ -19,6 +19,7 @@ Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation + Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation diff --git a/ur_description/tests/roslaunch_test_ur12e.xml b/ur_description/tests/roslaunch_test_ur12e.xml new file mode 100644 index 000000000..bdc0b3c62 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur12e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur15.xml b/ur_description/tests/roslaunch_test_ur15.xml new file mode 100644 index 000000000..eefe308a7 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur15.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/tests/roslaunch_test_ur7e.xml b/ur_description/tests/roslaunch_test_ur7e.xml new file mode 100644 index 000000000..9b2fbd376 --- /dev/null +++ b/ur_description/tests/roslaunch_test_ur7e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_description/urdf/inc/ur12e_macro.xacro b/ur_description/urdf/inc/ur12e_macro.xacro new file mode 100644 index 000000000..66192d34f --- /dev/null +++ b/ur_description/urdf/inc/ur12e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur15_macro.xacro b/ur_description/urdf/inc/ur15_macro.xacro new file mode 100644 index 000000000..8d5edf7a4 --- /dev/null +++ b/ur_description/urdf/inc/ur15_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur7e_macro.xacro b/ur_description/urdf/inc/ur7e_macro.xacro new file mode 100644 index 000000000..a9350b9ff --- /dev/null +++ b/ur_description/urdf/inc/ur7e_macro.xacro @@ -0,0 +1,47 @@ + + + + + + + + diff --git a/ur_description/urdf/inc/ur_common.xacro b/ur_description/urdf/inc/ur_common.xacro index e841d912b..318ceb5d0 100644 --- a/ur_description/urdf/inc/ur_common.xacro +++ b/ur_description/urdf/inc/ur_common.xacro @@ -36,7 +36,6 @@ - @@ -68,14 +67,6 @@ - - - - - - - - @@ -128,7 +119,6 @@ - @@ -137,18 +127,6 @@ - - - - - - - - - - - - @@ -164,6 +142,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -215,5 +254,11 @@ + + + + + + diff --git a/ur_description/urdf/inc/ur_macro.xacro b/ur_description/urdf/inc/ur_macro.xacro index d5eaca8b7..51b8d1611 100644 --- a/ur_description/urdf/inc/ur_macro.xacro +++ b/ur_description/urdf/inc/ur_macro.xacro @@ -12,7 +12,7 @@ This file models the base kinematic chain of a UR robot, which then gets parameterised by various configuration files to convert it into a UR3(e), - UR5(e), UR10(e), UR16e, UR20 or UR30. + UR5(e), UR7e, UR10(e), UR12e UR16e, UR15, UR20 or UR30. NOTE: the default kinematic parameters (ie: link lengths, frame locations, offets, etc) do not correspond to any particular robot. They are defaults @@ -113,9 +113,18 @@ - - - + + + + + @@ -133,9 +142,18 @@ - - - + + + + + @@ -153,9 +171,18 @@ - - - + + + + + @@ -174,9 +201,18 @@ - - - + + + + + @@ -194,13 +230,26 @@ - - - + + + + + + + + + - + @@ -209,14 +258,23 @@ - + - - - + + + + + diff --git a/ur_description/urdf/ur12e.xacro b/ur_description/urdf/ur12e.xacro new file mode 100644 index 000000000..29b15d5ae --- /dev/null +++ b/ur_description/urdf/ur12e.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur15.xacro b/ur_description/urdf/ur15.xacro new file mode 100644 index 000000000..ff429dcce --- /dev/null +++ b/ur_description/urdf/ur15.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_description/urdf/ur7e.xacro b/ur_description/urdf/ur7e.xacro new file mode 100644 index 000000000..ca81bf248 --- /dev/null +++ b/ur_description/urdf/ur7e.xacro @@ -0,0 +1,22 @@ + + + + + + diff --git a/ur_gazebo/CHANGELOG.rst b/ur_gazebo/CHANGELOG.rst index 6774983cb..939561697 100644 --- a/ur_gazebo/CHANGELOG.rst +++ b/ur_gazebo/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package ur_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Add support for UR15 (`#702 `_) +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner + +1.4.0 (2025-03-31) +------------------ +* Add support for ur7e and ur12e (`#692 `_) +* [ur_gazebo] Add possibility to specify transmission_interface and position-controllers (`#685 `_) +* Set initial joint at launch gazebo (`#681 `_) +* Contributors: Felix Exner, Niccolo + 1.3.3 (2024-04-08) ------------------ * UR30 description and meshes (`#674 `_) diff --git a/ur_gazebo/CMakeLists.txt b/ur_gazebo/CMakeLists.txt index 0c2f4a541..80e9bb858 100644 --- a/ur_gazebo/CMakeLists.txt +++ b/ur_gazebo/CMakeLists.txt @@ -14,6 +14,7 @@ if (CATKIN_ENABLE_TESTING) roslaunch_add_file_check(tests/roslaunch_test_ur5e.xml) roslaunch_add_file_check(tests/roslaunch_test_ur10.xml) roslaunch_add_file_check(tests/roslaunch_test_ur10e.xml) + roslaunch_add_file_check(tests/roslaunch_test_ur15.xml) roslaunch_add_file_check(tests/roslaunch_test_ur16e.xml) roslaunch_add_file_check(tests/roslaunch_test_ur20.xml) roslaunch_add_file_check(tests/roslaunch_test_ur30.xml) diff --git a/ur_gazebo/LICENSE b/ur_gazebo/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/ur_gazebo/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur_gazebo/config/ur10_controllers.yaml b/ur_gazebo/config/ur10_controllers.yaml index ad5c1e955..438ea89e9 100644 --- a/ur_gazebo/config/ur10_controllers.yaml +++ b/ur_gazebo/config/ur10_controllers.yaml @@ -34,3 +34,23 @@ eff_joint_traj_controller: joint_group_eff_controller: type: effort_controllers/JointGroupEffortController joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur10e_controllers.yaml b/ur_gazebo/config/ur10e_controllers.yaml index 1c94e84c2..f1cdc92e4 100644 --- a/ur_gazebo/config/ur10e_controllers.yaml +++ b/ur_gazebo/config/ur10e_controllers.yaml @@ -34,3 +34,23 @@ eff_joint_traj_controller: joint_group_eff_controller: type: effort_controllers/JointGroupEffortController joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur12e_controllers.yaml b/ur_gazebo/config/ur12e_controllers.yaml new file mode 100644 index 000000000..f1cdc92e4 --- /dev/null +++ b/ur_gazebo/config/ur12e_controllers.yaml @@ -0,0 +1,56 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 20000, d: 100, i: 10, i_clamp: 1} + shoulder_lift_joint: {p: 20000, d: 100, i: 20, i_clamp: 1} + elbow_joint: {p: 10000, d: 100, i: 10, i_clamp: 1} + wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur15_controllers.yaml b/ur_gazebo/config/ur15_controllers.yaml new file mode 100644 index 000000000..e2ef8ce86 --- /dev/null +++ b/ur_gazebo/config/ur15_controllers.yaml @@ -0,0 +1,56 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 20000, d: 500, i: 10, i_clamp: 1} + shoulder_lift_joint: {p: 20000, d: 500, i: 10, i_clamp: 1} + elbow_joint: {p: 10000, d: 200, i: 10, i_clamp: 1} + wrist_1_joint: {p: 500, d: 10, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 10, i: 1, i_clamp: 1} + wrist_3_joint: {p: 100, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur16e_controllers.yaml b/ur_gazebo/config/ur16e_controllers.yaml index ad04faf38..438f8603b 100644 --- a/ur_gazebo/config/ur16e_controllers.yaml +++ b/ur_gazebo/config/ur16e_controllers.yaml @@ -34,3 +34,23 @@ eff_joint_traj_controller: joint_group_eff_controller: type: effort_controllers/JointGroupEffortController joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur20_controllers.yaml b/ur_gazebo/config/ur20_controllers.yaml index 09335aa8b..e2ef8ce86 100644 --- a/ur_gazebo/config/ur20_controllers.yaml +++ b/ur_gazebo/config/ur20_controllers.yaml @@ -34,3 +34,23 @@ eff_joint_traj_controller: joint_group_eff_controller: type: effort_controllers/JointGroupEffortController joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur30_controllers.yaml b/ur_gazebo/config/ur30_controllers.yaml index 09335aa8b..e2ef8ce86 100644 --- a/ur_gazebo/config/ur30_controllers.yaml +++ b/ur_gazebo/config/ur30_controllers.yaml @@ -34,3 +34,23 @@ eff_joint_traj_controller: joint_group_eff_controller: type: effort_controllers/JointGroupEffortController joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur3_controllers.yaml b/ur_gazebo/config/ur3_controllers.yaml index b4ed47511..c1078cdfa 100644 --- a/ur_gazebo/config/ur3_controllers.yaml +++ b/ur_gazebo/config/ur3_controllers.yaml @@ -34,3 +34,23 @@ eff_joint_traj_controller: joint_group_eff_controller: type: effort_controllers/JointGroupEffortController joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur3e_controllers.yaml b/ur_gazebo/config/ur3e_controllers.yaml index c159a612f..4c53402d2 100644 --- a/ur_gazebo/config/ur3e_controllers.yaml +++ b/ur_gazebo/config/ur3e_controllers.yaml @@ -34,3 +34,23 @@ eff_joint_traj_controller: joint_group_eff_controller: type: effort_controllers/JointGroupEffortController joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur5_controllers.yaml b/ur_gazebo/config/ur5_controllers.yaml index a4ff6fff0..bf1ca1b1e 100644 --- a/ur_gazebo/config/ur5_controllers.yaml +++ b/ur_gazebo/config/ur5_controllers.yaml @@ -34,3 +34,23 @@ eff_joint_traj_controller: joint_group_eff_controller: type: effort_controllers/JointGroupEffortController joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur5e_controllers.yaml b/ur_gazebo/config/ur5e_controllers.yaml index 70836f212..d78194a14 100644 --- a/ur_gazebo/config/ur5e_controllers.yaml +++ b/ur_gazebo/config/ur5e_controllers.yaml @@ -34,3 +34,23 @@ eff_joint_traj_controller: joint_group_eff_controller: type: effort_controllers/JointGroupEffortController joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/config/ur7e_controllers.yaml b/ur_gazebo/config/ur7e_controllers.yaml new file mode 100644 index 000000000..d78194a14 --- /dev/null +++ b/ur_gazebo/config/ur7e_controllers.yaml @@ -0,0 +1,56 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: &loop_hz 500 + +eff_joint_traj_controller: + type: effort_controllers/JointTrajectoryController + joints: &robot_joints + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + gains: # Required because we're controlling an effort interface + shoulder_pan_joint: {p: 4000, d: 200, i: 1, i_clamp: 1} + shoulder_lift_joint: {p: 10000, d: 200, i: 1, i_clamp: 1} + elbow_joint: {p: 2000, d: 20, i: 1, i_clamp: 1} + wrist_1_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_2_joint: {p: 500, d: 1, i: 1, i_clamp: 1} + wrist_3_joint: {p: 10, d: 0.1, i: 0, i_clamp: 1} + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_eff_controller: + type: effort_controllers/JointGroupEffortController + joints: *robot_joints + +pos_joint_traj_controller: + type: position_controllers/JointTrajectoryController + joints: *robot_joints + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} + shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} + elbow_joint: {trajectory: 0.1, goal: 0.1} + wrist_1_joint: {trajectory: 0.1, goal: 0.1} + wrist_2_joint: {trajectory: 0.1, goal: 0.1} + wrist_3_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: *loop_hz + action_monitor_rate: 10 + +joint_group_pos_controller: + type: position_controllers/JointGroupPositionController + joints: *robot_joints diff --git a/ur_gazebo/launch/inc/load_ur.launch.xml b/ur_gazebo/launch/inc/load_ur.launch.xml index ea23ec11b..d054f0127 100644 --- a/ur_gazebo/launch/inc/load_ur.launch.xml +++ b/ur_gazebo/launch/inc/load_ur.launch.xml @@ -18,7 +18,7 @@ to load it onto the parameter server. --> - + diff --git a/ur_gazebo/launch/inc/load_ur12e.launch.xml b/ur_gazebo/launch/inc/load_ur12e.launch.xml new file mode 100644 index 000000000..803e722bb --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur12e.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur15.launch.xml b/ur_gazebo/launch/inc/load_ur15.launch.xml new file mode 100644 index 000000000..7b78b7c0e --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur15.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/inc/load_ur7e.launch.xml b/ur_gazebo/launch/inc/load_ur7e.launch.xml new file mode 100644 index 000000000..321b4e014 --- /dev/null +++ b/ur_gazebo/launch/inc/load_ur7e.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur10_bringup.launch b/ur_gazebo/launch/ur10_bringup.launch index 5102f8230..8bec14959 100644 --- a/ur_gazebo/launch/ur10_bringup.launch +++ b/ur_gazebo/launch/ur10_bringup.launch @@ -36,6 +36,7 @@ + @@ -56,6 +57,7 @@ + diff --git a/ur_gazebo/launch/ur10e_bringup.launch b/ur_gazebo/launch/ur10e_bringup.launch index 177d8e59e..a737dd034 100644 --- a/ur_gazebo/launch/ur10e_bringup.launch +++ b/ur_gazebo/launch/ur10e_bringup.launch @@ -36,6 +36,7 @@ + @@ -56,6 +57,7 @@ + diff --git a/ur_gazebo/launch/ur12e_bringup.launch b/ur_gazebo/launch/ur12e_bringup.launch new file mode 100644 index 000000000..d8fd43389 --- /dev/null +++ b/ur_gazebo/launch/ur12e_bringup.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur15_bringup.launch b/ur_gazebo/launch/ur15_bringup.launch new file mode 100644 index 000000000..34ac28b9b --- /dev/null +++ b/ur_gazebo/launch/ur15_bringup.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/launch/ur16e_bringup.launch b/ur_gazebo/launch/ur16e_bringup.launch index a2018ff7c..69ad70d8f 100644 --- a/ur_gazebo/launch/ur16e_bringup.launch +++ b/ur_gazebo/launch/ur16e_bringup.launch @@ -36,6 +36,7 @@ + @@ -56,6 +57,7 @@ + diff --git a/ur_gazebo/launch/ur20_bringup.launch b/ur_gazebo/launch/ur20_bringup.launch index b5bc3b34f..6b402b302 100644 --- a/ur_gazebo/launch/ur20_bringup.launch +++ b/ur_gazebo/launch/ur20_bringup.launch @@ -36,6 +36,7 @@ + @@ -56,6 +57,7 @@ + diff --git a/ur_gazebo/launch/ur30_bringup.launch b/ur_gazebo/launch/ur30_bringup.launch index f269880d4..786c4d859 100644 --- a/ur_gazebo/launch/ur30_bringup.launch +++ b/ur_gazebo/launch/ur30_bringup.launch @@ -36,6 +36,7 @@ + @@ -56,6 +57,7 @@ + diff --git a/ur_gazebo/launch/ur3_bringup.launch b/ur_gazebo/launch/ur3_bringup.launch index 6f22a1d71..cd36f6d5d 100644 --- a/ur_gazebo/launch/ur3_bringup.launch +++ b/ur_gazebo/launch/ur3_bringup.launch @@ -36,6 +36,7 @@ + @@ -56,6 +57,7 @@ + diff --git a/ur_gazebo/launch/ur3e_bringup.launch b/ur_gazebo/launch/ur3e_bringup.launch index 93cec225f..cc6640080 100644 --- a/ur_gazebo/launch/ur3e_bringup.launch +++ b/ur_gazebo/launch/ur3e_bringup.launch @@ -36,6 +36,7 @@ + @@ -56,6 +57,7 @@ + diff --git a/ur_gazebo/launch/ur5_bringup.launch b/ur_gazebo/launch/ur5_bringup.launch index f4edf3307..7dc7b7399 100644 --- a/ur_gazebo/launch/ur5_bringup.launch +++ b/ur_gazebo/launch/ur5_bringup.launch @@ -36,6 +36,7 @@ + @@ -56,6 +57,7 @@ + diff --git a/ur_gazebo/launch/ur5e_bringup.launch b/ur_gazebo/launch/ur5e_bringup.launch index 4dcf940c5..78686c6c1 100644 --- a/ur_gazebo/launch/ur5e_bringup.launch +++ b/ur_gazebo/launch/ur5e_bringup.launch @@ -36,6 +36,7 @@ + @@ -56,6 +57,7 @@ + diff --git a/ur_gazebo/launch/ur7e_bringup.launch b/ur_gazebo/launch/ur7e_bringup.launch new file mode 100644 index 000000000..61e6e67b8 --- /dev/null +++ b/ur_gazebo/launch/ur7e_bringup.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur_gazebo/package.xml b/ur_gazebo/package.xml index fe341c9d5..fb4cb504e 100644 --- a/ur_gazebo/package.xml +++ b/ur_gazebo/package.xml @@ -1,7 +1,7 @@ ur_gazebo - 1.3.3 + 1.5.0 Gazebo wrapper for the Universal UR5/10 robot arms. diff --git a/ur_gazebo/tests/roslaunch_test_ur12e.xml b/ur_gazebo/tests/roslaunch_test_ur12e.xml new file mode 100644 index 000000000..e83d69d38 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur12e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur15.xml b/ur_gazebo/tests/roslaunch_test_ur15.xml new file mode 100644 index 000000000..0397b86be --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur15.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_gazebo/tests/roslaunch_test_ur7e.xml b/ur_gazebo/tests/roslaunch_test_ur7e.xml new file mode 100644 index 000000000..8c0d48001 --- /dev/null +++ b/ur_gazebo/tests/roslaunch_test_ur7e.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ur_kinematics/CHANGELOG.rst b/ur_kinematics/CHANGELOG.rst index 7a4ce5e23..f6d06ac96 100644 --- a/ur_kinematics/CHANGELOG.rst +++ b/ur_kinematics/CHANGELOG.rst @@ -2,6 +2,16 @@ Changelog for package ur_kinematics ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1.5.0 (2025-05-13) +------------------ +* Update setup.py (`#701 `_) +* Add support for UR15 (`#702 `_) +* Add License files to packages (`#695 `_) +* Contributors: Felix Exner, Forest_Loong + +1.4.0 (2025-03-31) +------------------ + 1.3.3 (2024-04-08) ------------------ * Changed include for Boost in ur_kinematics (`#675 `_) diff --git a/ur_kinematics/CMakeLists.txt b/ur_kinematics/CMakeLists.txt index eb8b4dcb2..0d05ec086 100644 --- a/ur_kinematics/CMakeLists.txt +++ b/ur_kinematics/CMakeLists.txt @@ -10,7 +10,23 @@ catkin_python_setup() catkin_package( INCLUDE_DIRS include - LIBRARIES ur3_kin ur5_kin ur10_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin ur3e_kin ur5e_kin ur10e_kin ur16e_kin ur20_kin ur20_moveit_plugin ur30_kin ur30_moveit_plugin + LIBRARIES + ur3_kin + ur5_kin + ur10_kin + ur3_moveit_plugin + ur5_moveit_plugin + ur10_moveit_plugin + ur3e_kin + ur5e_kin + ur10e_kin + ur16e_kin + ur15_kin + ur15_moveit_plugin + ur20_kin + ur20_moveit_plugin + ur30_kin + ur30_moveit_plugin CATKIN_DEPENDS roscpp geometry_msgs moveit_core moveit_kinematics moveit_ros_planning pluginlib tf_conversions DEPENDS Boost @@ -45,6 +61,9 @@ set_target_properties(ur10e_kin PROPERTIES COMPILE_DEFINITIONS "UR10e_PARAMS") add_library(ur16e_kin src/ur_kin.cpp) set_target_properties(ur16e_kin PROPERTIES COMPILE_DEFINITIONS "UR16e_PARAMS") +add_library(ur15_kin src/ur_kin.cpp) +set_target_properties(ur15_kin PROPERTIES COMPILE_DEFINITIONS "UR15_PARAMS") + add_library(ur20_kin src/ur_kin.cpp) set_target_properties(ur20_kin PROPERTIES COMPILE_DEFINITIONS "UR20_PARAMS") @@ -100,6 +119,13 @@ target_link_libraries(ur16e_moveit_plugin ${Boost_LIBRARIES} ur16e_kin) +add_library(ur15_moveit_plugin src/ur_moveit_plugin.cpp) +set_target_properties(ur15_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR15_PARAMS") +target_link_libraries(ur15_moveit_plugin + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ur15_kin) + add_library(ur20_moveit_plugin src/ur_moveit_plugin.cpp) set_target_properties(ur20_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR20_PARAMS") target_link_libraries(ur20_moveit_plugin @@ -133,6 +159,7 @@ install(TARGETS ur10_moveit_plugin ur10e_moveit_plugin ur16e_moveit_plugin + ur15_moveit_plugin ur20_moveit_plugin ur30_moveit_plugin ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} diff --git a/ur_kinematics/LICENSE_APACHE_2 b/ur_kinematics/LICENSE_APACHE_2 new file mode 100644 index 000000000..d64569567 --- /dev/null +++ b/ur_kinematics/LICENSE_APACHE_2 @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/ur_kinematics/package.xml b/ur_kinematics/package.xml index 56ed54cbd..2285312e1 100644 --- a/ur_kinematics/package.xml +++ b/ur_kinematics/package.xml @@ -1,7 +1,7 @@ ur_kinematics - 1.3.3 + 1.5.0 Provides forward and inverse kinematics for Universal Robots designs. See http://hdl.handle.net/1853/50782 for details. @@ -12,6 +12,7 @@ Miguel Prada Sarasola Nadia Hammoudeh Garcia BSD + Apache-2.0 http://wiki.ros.org/ur_kinematics https://github.com/ros-industrial/universal_robot/issues https://github.com/ros-industrial/universal_robot diff --git a/ur_kinematics/setup.py b/ur_kinematics/setup.py index 3fc78faac..dd81abb04 100644 --- a/ur_kinematics/setup.py +++ b/ur_kinematics/setup.py @@ -1,6 +1,6 @@ #!/usr/bin/env python -from distutils.core import setup +from setuptools import setup from catkin_pkg.python_setup import generate_distutils_setup d = generate_distutils_setup( diff --git a/ur_kinematics/src/ur_kin.cpp b/ur_kinematics/src/ur_kin.cpp index a7d5e0c25..eefcc29a9 100644 --- a/ur_kinematics/src/ur_kin.cpp +++ b/ur_kinematics/src/ur_kin.cpp @@ -33,6 +33,16 @@ namespace ur_kinematics { const double d6 = 0.1543; #endif + //#define UR15_PARAMS + #ifdef UR15_PARAMS + const double d1 = 0.2186; + const double a2 = -0.6475; + const double a3 = -0.5164; + const double d4 = 0.1824; + const double d5 = 0.1361; + const double d6 = 0.1434; + #endif + //#define UR16e_PARAMS #ifdef UR16e_PARAMS const double d1 = 0.1807; diff --git a/ur_kinematics/ur_moveit_plugins.xml b/ur_kinematics/ur_moveit_plugins.xml index 1d4be9c86..ff5ea7e09 100644 --- a/ur_kinematics/ur_moveit_plugins.xml +++ b/ur_kinematics/ur_moveit_plugins.xml @@ -68,6 +68,16 @@ + + + + Analytic kinematics for the Universal Robots UR15. + Original plugin developed by Kelsey Hawkins from Georgia Tech. + See http://hdl.handle.net/1853/50782 for details. + + + +