Add UR12e support#220
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please perform the following check
- get the kinematics from the robot through a client script
- perform forward kinematics (if you're using golang this is model.transform on some inputs)
- get the current end effector postion through the arm api
- calculate the delta
delta should be on the order of 1-500 microns for position
| {"base_link", "wrist_3_link", "shoulder_link", "forearm_link", "upper_arm_link", "wrist_1_link", "wrist_2_link"}}); | ||
| // URCL maps "ur12e" to RobotType::UR10 (per URCL helpers.h), so the | ||
| // urcl_category here is "ur10". | ||
| t.push_back({"ur12e", "ur10", {}}); |
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third list cannot be empty.
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thought about it, I think that it can be empty since the get3d models endpoint is not implemented for this arm model as it is new.
please file a ticket as a todo and add it as a comment here that the third list will need to be updated the day that the relevant glbs are added.
Joseph Borodach (JosephBorodach)
requested a review
from Andrew C. Morrow (acmorrow)
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Joseph Borodach (@JosephBorodach) - Could you please file a ticket for this, so that we can track what release support lands in? |
Andrew C. Morrow (acmorrow)
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Andrew C. Morrow (acmorrow)
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This LGTM when Nick Franczak (@nfranczak) is happy with it. Please do file a ticket, and include the ticket on the commit message like [RSDK-ABCDE] Add UR12e support.
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lets also add a urdf file for the ur12e |
3 participants
Adds
viam:universal-robots:ur12e, mapping to URCL'sUR10category. Kinematics from UR's official ROS2 description (config/ur12e/default_kinematics.yaml).Manual Testing
Validated against a real UR12e