diff --git a/README.md b/README.md index f34ac497..77e11fb6 100644 --- a/README.md +++ b/README.md @@ -17,9 +17,9 @@ users an overview of the current released state. ## License -The [UR15 meshes](meshes/ur15), [UR20 meshes](meshes/ur20) and [UR30 meshes](meshes/ur30) constitutes “Graphical Documentation” the use of which is subject to and governed by our “[Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt)”. +The [UR8LONG meshes](meshes/ur8long), [UR15 meshes](meshes/ur15), [UR20 meshes](meshes/ur20) and [UR30 meshes](meshes/ur30) constitutes “Graphical Documentation” the use of which is subject to and governed by our “[Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt)”. -Universal Robots' [Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt) do not fully comply with [OSI's definition of Open Source](https://opensource.org/osd/), but they do allow you to use, modify and share “Graphical Documentation”, including [UR15 meshes](meshes/ur15), [UR20](meshes/ur20) and [UR30](meshes/ur30) meshes, subject to certain restrictions.\ +Universal Robots' [Terms and Conditions for use of Graphical Documentation](https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt) do not fully comply with [OSI's definition of Open Source](https://opensource.org/osd/), but they do allow you to use, modify and share “Graphical Documentation”, including [UR8LONG meshes](meshes/ur8long), [UR15 meshes](meshes/ur15), [UR20](meshes/ur20) and [UR30](meshes/ur30) meshes, subject to certain restrictions.\ If you have any questions regarding this license or if this license doesn't fit your use-case, please contact [legal@universal-robots.com](mailto:legal@universal-robots.com). All other content is licensed under the BSD-3-Clause license diff --git a/config/ur8long/default_kinematics.yaml b/config/ur8long/default_kinematics.yaml new file mode 100644 index 00000000..b2d1dcfa --- /dev/null +++ b/config/ur8long/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: -0.89890000000000003 + y: 0 + z: 0 + roll: -0 + pitch: 0 + yaw: -0 + wrist_1: + x: -0.71489999999999998 + 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_464256464824449623 diff --git a/config/ur8long/joint_limits.yaml b/config/ur8long/joint_limits.yaml new file mode 100644 index 00000000..e0582aa6 --- /dev/null +++ b/config/ur8long/joint_limits.yaml @@ -0,0 +1,72 @@ +--- +joint_limits: + shoulder_pan_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: 433.0 + max_position: !degrees 360.0 + max_velocity: !degrees 180.0 + min_position: !degrees -360.0 + shoulder_lift_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: 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_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 240.0 + min_position: !degrees -180.0 + wrist_1_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: 70.0 + max_position: !degrees 360.0 + max_velocity: !degrees 300.0 + min_position: !degrees -360.0 + wrist_2_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: 70.0 + max_position: !degrees 360.0 + max_velocity: !degrees 300.0 + min_position: !degrees -360.0 + wrist_3_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: 70.0 + max_position: !degrees 360.0 + max_velocity: !degrees 300.0 + min_position: !degrees -360.0 diff --git a/config/ur8long/physical_parameters.yaml b/config/ur8long/physical_parameters.yaml new file mode 100644 index 00000000..134d9d54 --- /dev/null +++ b/config/ur8long/physical_parameters.yaml @@ -0,0 +1,114 @@ +--- +# Physical parameters + +inertia_parameters: + base_mass: 4.0 # This mass might be incorrect + shoulder_mass: 9.9883 + upper_arm_mass: 17.0738 + forearm_mass: 7.6393 + wrist_1_mass: 2.089 + wrist_2_mass: 2.0869 + wrist_3_mass: 1.0666 + + # 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: -0.333471 # model.x - upperarm_length + y: -0.000074 # model.y + z: 0.195420 # model.z + forearm_cog: + x: -0.298798 # model.x - forearm_length + y: 0.000058 # model.y + z: 0.065663 # 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: 0.056709 + ixy: 0.000292 + ixz: -0.054852 + iyy: 2.440120 + iyz: -0.000014 + izz: 2.432744 + forearm: + ixx: 0.022148 + ixy: 0.000052 + ixz: 0.019779 + iyy: 0.633274 + iyz: 0.000003 + izz: 0.625889 + 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/config/ur8long/visual_parameters.yaml b/config/ur8long/visual_parameters.yaml new file mode 100644 index 00000000..474685da --- /dev/null +++ b/config/ur8long/visual_parameters.yaml @@ -0,0 +1,121 @@ +# Visualisation + +mesh_files: + base: + visual: + mesh: + package: ur_description + path: meshes/ur15/visual/base.dae + collision: + mesh: + package: ur_description + path: meshes/ur15/collision/base.stl + mesh_offset: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: !degrees 180 + + shoulder: + visual: + mesh: + package: ur_description + path: meshes/ur15/visual/shoulder.dae + collision: + mesh: + package: ur_description + path: meshes/ur15/collision/shoulder.stl + mesh_offset: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: !degrees 180 + + upper_arm: + visual: + mesh: + package: ur_description + path: meshes/ur8long/visual/upperarm.dae + collision: + mesh: + package: ur_description + path: meshes/ur8long/collision/upperarm.stl + mesh_offset: + x: 0.0 + y: 0.0 + z: 0.109 + roll: !degrees 90 + pitch: 0.0 + yaw: !degrees -90 + + forearm: + visual: + mesh: + package: ur_description + path: meshes/ur8long/visual/forearm.dae + collision: + mesh: + package: ur_description + path: meshes/ur8long/collision/forearm.stl + mesh_offset: + x: 0.0 + y: 0.0 + z: 0.13425 + roll: !degrees 90 + pitch: 0.0 + yaw: !degrees -90 + + wrist_1: + visual: + mesh: + package: ur_description + path: meshes/ur15/visual/wrist1.dae + collision: + mesh: + package: ur_description + path: meshes/ur15/collision/wrist1.stl + mesh_offset: + x: 0.0 + y: 0.0 + z: -0.0502 + roll: !degrees 90 + pitch: 0.0 + yaw: 0.0 + + wrist_2: + visual: + mesh: + package: ur_description + path: meshes/ur15/visual/wrist2.dae + collision: + mesh: + package: ur_description + path: meshes/ur15/collision/wrist2.stl + mesh_offset: + x: 0.0 + y: 0.0 + z: -0.064 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + + wrist_3: + visual: + mesh: + package: ur_description + path: meshes/ur15/visual/wrist3.dae + collision: + mesh: + package: ur_description + path: meshes/ur15/collision/wrist3.stl + mesh_offset: + x: 0.0 + y: 0.0 + z: -0.0715 + roll: !degrees 90 + pitch: 0.0 + yaw: 0.0 diff --git a/launch/view_ur.launch.py b/launch/view_ur.launch.py index 8a5526eb..83a26ca1 100644 --- a/launch/view_ur.launch.py +++ b/launch/view_ur.launch.py @@ -45,14 +45,15 @@ def generate_launch_description(): description="Type/series of used UR robot.", choices=[ "ur3", - "ur3e", "ur5", + "ur10", + "ur3e", "ur5e", "ur7e", - "ur10", "ur10e", "ur12e", "ur16e", + "ur8long", "ur15", "ur20", "ur30", diff --git a/meshes/ur8long/LICENSE.txt b/meshes/ur8long/LICENSE.txt new file mode 100644 index 00000000..cba4e38a --- /dev/null +++ b/meshes/ur8long/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. The T&Cs constitute a binding agreement between you and Universal Robots. By accessing, storing, copying, sharing, opening, or otherwise using or disposing of the Graphical Documentation, you acknowledge that you are bound by the T&Cs. + +1. PERMITTED USE OF THE GRAPHICAL DOCUMENTATION + +1.1. You may use the Graphical Documentation for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products, provided that your use does not constitute comparative advertising and is not otherwise unfair, disloyal, or disparaging to Universal Robots. + +1.2. Hobbyists, students and/or researchers are allowed to use the Graphical Documentation to create models or similar solely for non-commercial purposes as part of their hobby, academic studies, or research. However, no one is allowed to use the Graphical Documentation to create a physical model or similar for commercial purposes, nor to create or improve a product that is capable of competing, either directly or indirectly, with any of Universal Robots’ or its affiliates’ current or future robots. + +1.3. You are permitted to create a product or solution that simulates, visualizes, or digitally represents a Universal Robots product, regardless of the origin of the underlying software, and regardless of whether Universal Robots or its affiliates have released a product that competes with the underlying software. However, you may not in any way use the Graphical Documentation to create a product or solution that simulates, visualizes or represents a product that is capable of competing, either directly or indirectly, with any of Universal Robots’ or its affiliates’ current or future products without Universal Robots’ prior written permission. + +1.4. You may share the Graphical Documentation or any whole or partial copies thereof with a third party (i) if and to the extent it is necessary for you to do so in order for you to engage in use permitted pursuant to this Section 1, and (ii) you provide the recipient with a copy of the T&Cs. However, you may only make the Graphical Documentation or any whole or partial copies thereof available to the public via download if it is part of a downloadable software package that includes a copy of the T&Cs. If you download a software package that includes the Graphical Documentation, your use of the Graphical Documentation will be subject to and governed by the latest version of the T&Cs, which can be found here: https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt , regardless of whether they are included in the software package or not. + +1.4.1. You are not allowed to alter, obscure, remove or replace any copyright or other legal notices, trademarks, business names and/or logos embedded in, superimposed on, affixed to, or otherwise included in, the Graphical Documentation without Universal Robots’ prior written permission. + +1.4.2. You may show the Graphical Documentation in whole or in part to a third party or the public in the course of you engaging in the use permitted pursuant to this Section 1, provided that you display any copyright notice already contained in the Graphical Documentation, cf. also Section 1.4.1. + +1.4.3. You may show graphical representations of Universal Robots’ products based on the Graphical Documentation to a third party or the public in the course of you engaging in the use permitted pursuant to this Section 1, if you, to the extent possible, display the following copyright notice in connection with such use: “© 2023 Universal Robots A/S. Use hereof is subject to Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation.” If the medium that you use limits or does not support the possibility of displaying the copyright notice, you may in good faith disregard this requirement. + +1.5. You may under no circumstances use the Graphical Documentation for planning, construction, maintenance, operation, or use, directly or indirectly, in nuclear power plants, missile technology, chemical or biological weapons applications or flight, navigation, or communication of aircraft or ground support equipment. + +1.6. Any use of the Graphical Documentation that is not expressly permitted pursuant to this Section 1 constitutes a material breach of the T&Cs. + +1.7. If your intended use of the Graphical Documentation is not permitted pursuant to the T&Cs, you may contact Universal Robots via email at legal@universal-robots.com and request a special permission to engage in your particular intended use. + + +2. 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THE GRAPHICAL DOCUMENTATION IS PROVIDED ON AN “AS IS” BASIS AND UNIVERSAL ROBOTS MAKES NO WARRANTY OF ANY KIND WITH RESPECT TO THE GRAPHICAL DOCUMENTATION AND WE HEREBY EXPRESSLY EXCLUDE ANY WARRANTIES WITH RESPECT THERETO, WHETHER EXPRESS, IMPLIED, STATUTORY OR OTHERWISE, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE, NONINFRINGEMENT, ACCURACY OR ANY OTHER WARRANTIES OR GUARANTEES THAT MAY ARISE FROM COURSE OF DEALING, USAGE, OR TRADE PRACTICE. NEITHER UNIVERSAL ROBOTS NOR ITS SUPPLIERS, INCLUDING – WITHOUT LIMITATION – ITS LICENSORS, MAKE ANY REPRESENTATION, WARRANTY, OR OTHER COMMITMENT REGARDING (1) THE USE OR INABILITY TO USE THE GRAPHICAL DOCUMENTATION; OR (2) ANY RESULTS OF SUCH USE IN TERMS OF CORRECTNESS, ACCURACY, OR RELIABILITY. YOU UNDERSTAND AND AGREE THAT YOU ASSUME THE ENTIRE RISK AS TO YOUR USE OF THE GRAPHICAL DOCUMENTATION. + +3.2. 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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. The foregoing notwithstanding, Universal Robots may seek preliminary, temporary, or permanent injunctive relief and other equitable remedies in any court of competent jurisdiction prior to or during arbitration and may enforce the award of the arbitrator in any court of competent jurisdiction. + + +* E.g., STEP-Files (ISO 10303-21), Collada (.dae), STL files (.stl), GLB files (.glb), GLFT files (.glft) , Jupiter Tessellation files (.jt), E-plan files (.emp), electrical schematics, CAD files, and drawings including the contents of these technical files. “Software”, as defined in Universal Robots End User Software License Agreement, does not constitute “Technical Documentation” and your use thereof is, unless otherwise agreed with Universal Robots in writing, governed by Universal Robots’ End User Software License Agreement. diff --git a/meshes/ur8long/collision/forearm.stl b/meshes/ur8long/collision/forearm.stl new file mode 100644 index 00000000..7017e7a9 Binary files /dev/null and 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+ + + + + + + + -1 8.74228e-8 -5.36442e-7 -7.36502e-9 -8.74228e-8 -1 -4.68972e-14 0.08424606 -5.36442e-7 0 1 -0.07364558 0 0 0 1 + + + + + + + + + + + + -1 8.74228e-8 -5.36442e-7 -1.16242e-8 -8.74228e-8 -1 -4.68972e-14 0.1329656 -5.36442e-7 0 1 0.6623155 0 0 0 1 + + + + + + + + + + + + -1 8.74228e-8 -5.36442e-7 -2.87128e-11 -8.74228e-8 -1 -4.68972e-14 -4.47288e-6 -5.36442e-7 0 1 3.46558e-4 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + diff --git a/package.xml b/package.xml index fca7b3fb..a761f3d5 100644 --- a/package.xml +++ b/package.xml @@ -28,8 +28,9 @@ Universal Robots A/S BSD-3-Clause - + Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation + diff --git a/test/test_ur_urdf_xacro.py b/test/test_ur_urdf_xacro.py index aaa8d7af..8eae328d 100644 --- a/test/test_ur_urdf_xacro.py +++ b/test/test_ur_urdf_xacro.py @@ -41,14 +41,15 @@ "ur_type", [ "ur3", - "ur3e", "ur5", + "ur10", + "ur3e", "ur5e", "ur7e", - "ur10", "ur10e", "ur12e", "ur16e", + "ur8long", "ur15", "ur20", "ur30", diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro index d8be299e..2e200ca1 100644 --- a/urdf/ur.urdf.xacro +++ b/urdf/ur.urdf.xacro @@ -5,7 +5,7 @@ - + diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro index 03bfedf4..470507fd 100644 --- a/urdf/ur_macro.xacro +++ b/urdf/ur_macro.xacro @@ -9,7 +9,7 @@ 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) or UR16e. + UR5(e), UR10(e) or UR16e, etc. NOTE the default kinematic parameters (i.e., link lengths, frame locations, offsets, etc) do not correspond to any particular robot. They are defaults diff --git a/urdf/ur_mocked.urdf.xacro b/urdf/ur_mocked.urdf.xacro index 32d22b20..19643a3c 100644 --- a/urdf/ur_mocked.urdf.xacro +++ b/urdf/ur_mocked.urdf.xacro @@ -6,7 +6,7 @@ - +