Add support for UR8LONG

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

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

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

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

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

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",