UR20 description and meshes

The UR20 meshes are added under Universal Robots A/S’
Terms and Conditions for Use of Graphical Documentation

.pre-commit-config.yaml

@@ -19,6 +19,7 @@ repos:
     rev: v4.4.0
     hooks:
       - id: check-added-large-files
+        args: ['--maxkb=1500']
       - id: check-ast
       - id: check-case-conflict
       - id: check-docstring-first

README.md

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

config/ur20/default_kinematics.yaml

@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.23630000000000001
+    roll: -0
+    pitch: 0
+    yaw: -0
+  upper_arm:
+    x: 0
+    y: 0
+    z: 0
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  forearm:
+    x: -0.86199999999999999
+    y: 0
+    z: 0
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_1:
+    x: -0.72870000000000001
+    y: 0
+    z: 0.20100000000000001
+    roll: -0
+    pitch: 0
+    yaw: -0
+  wrist_2:
+    x: 0
+    y: -0.1593
+    z: -3.2672976162492252e-11
+    roll: 1.570796327
+    pitch: 0
+    yaw: -0
+  wrist_3:
+    x: 0
+    y: 0.15429999999999999
+    z: -3.1647459019915597e-11
+    roll: 1.5707963265897931
+    pitch: 3.1415926535897931
+    yaw: 3.1415926535897931
+  hash: calib_4890363623803256388

config/ur20/joint_limits.yaml

@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR16e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69187/99473_UR16e_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_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: 330.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  130.0
+    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: 330.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  130.0
+    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  160.0
+    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: 56.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  220.0
+    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: 56.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  220.0
+    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: 56.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  220.0
+    min_position: !degrees -360.0

config/ur20/physical_parameters.yaml

@@ -0,0 +1,80 @@
+# 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/
+  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
+
+  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
+
+  links:
+    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
+    shoulder_cog:
+      x: 0.0
+      y: 0.00244
+      z: -0.037
+    upper_arm_cog:
+      x: 0.00001
+      y: 0.15061
+      z: 0.48757
+    forearm_cog:
+      x: -0.00012
+      y: 0.06112
+      z: 0.2984
+    wrist_1_cog:
+      x: -0.00021
+      y: -0.00112
+      z: 0.02269
+    wrist_2_cog:
+      x: -0.00021
+      y: 0.00112
+      z: 0.002269
+    wrist_3_cog:
+      x: 0.0
+      y: -0.001156
+      z: -0.00149

config/ur20/visual_parameters.yaml

@@ -0,0 +1,97 @@
+# Visualisation
+
+mesh_files:
+  base:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/base.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/base.stl
+
+  shoulder:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/shoulder.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/shoulder.stl
+
+  upper_arm:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/upperarm.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/upperarm.stl
+      mesh_files:
+
+  forearm:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/forearm.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/forearm.stl
+
+  wrist_1:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/wrist1.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/wrist1.stl
+    visual_offset: -0.0775
+
+  wrist_2:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/wrist2.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/wrist2.stl
+    visual_offset: -0.0749
+
+  wrist_3:
+    visual:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/visual/wrist3.dae
+      material:
+        name: "LightGrey"
+        color: "0.7 0.7 0.7 1.0"
+    collision:
+      mesh:
+        package: ur_description
+        path: meshes/ur20/collision/wrist3.stl
+    visual_offset: -0.07

launch/view_ur.launch.py

@@ -42,11 +42,9 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "ur_type",
             description="Type/series of used UR robot.",
-            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
+            choices=["ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e", "ur20"],
         )
     )
-    # TODO(anyone): enable this when added into ROS2-foxy
-    # choices=['ur3', 'ur3e', 'ur5', 'ur5e', 'ur10', 'ur10e', 'ur16e']))
     declared_arguments.append(
         DeclareLaunchArgument(
             "safety_limits",