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Add UR12e support #220
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Joseph Borodach (JosephBorodach)
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Add UR12e support #220
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,250 @@ | ||
| { | ||
| "name": "UR12e", | ||
| "kinematic_param_type": "SVA", | ||
| "links": [ | ||
| { | ||
| "id": "base_link", | ||
| "parent": "world", | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 180.7 | ||
| }, | ||
| "geometry": { | ||
| "r": 75.0, | ||
| "l": 300.0, | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 150.0 | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "shoulder_link", | ||
| "parent": "shoulder_pan_joint", | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 0 | ||
| } | ||
| }, | ||
| { | ||
| "id": "upper_arm_link", | ||
| "parent": "shoulder_lift_joint", | ||
| "translation": { | ||
| "x": -612.7, | ||
| "y": 0, | ||
| "z": 0 | ||
| }, | ||
| "geometry": { | ||
| "r": 80.0, | ||
| "l": 735.0, | ||
| "translation": { | ||
| "x": -306.35, | ||
| "y": -130, | ||
| "z": 0 | ||
| }, | ||
| "orientation": { | ||
| "type": "ov_degrees", | ||
| "value": { | ||
| "x": -1, | ||
| "y": 0, | ||
| "z": 0, | ||
| "th": 0 | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "forearm_link", | ||
| "parent": "elbow_joint", | ||
| "translation": { | ||
| "x": -571.55, | ||
| "y": 0, | ||
| "z": 0 | ||
| }, | ||
| "geometry": { | ||
| "r": 65.0, | ||
| "l": 670.0, | ||
| "translation": { | ||
| "x": -285.775, | ||
| "y": 0, | ||
| "z": 0 | ||
| }, | ||
| "orientation": { | ||
| "type": "ov_degrees", | ||
| "value": { | ||
| "x": -1, | ||
| "y": 0, | ||
| "z": 0, | ||
| "th": 0 | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "wrist_1_link", | ||
| "parent": "wrist_1_joint", | ||
| "translation": { | ||
| "x": 0, | ||
| "y": -174.15, | ||
| "z": 0 | ||
| }, | ||
| "geometry": { | ||
| "r": 50.0, | ||
| "l": 260.0, | ||
| "translation": { | ||
| "x": 0, | ||
| "y": -87.075, | ||
| "z": 0 | ||
| }, | ||
| "orientation": { | ||
| "type": "ov_degrees", | ||
| "value": { | ||
| "x": 0, | ||
| "y": -1, | ||
| "z": 0, | ||
| "th": 0 | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "wrist_2_link", | ||
| "parent": "wrist_2_joint", | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": -119.85 | ||
| }, | ||
| "geometry": { | ||
| "r": 80.0, | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 0 | ||
| }, | ||
| "orientation": { | ||
| "type": "ov_degrees", | ||
| "value": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": -1, | ||
| "th": 0 | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "ee_link", | ||
| "parent": "wrist_3_joint", | ||
| "translation": { | ||
| "x": 0, | ||
| "y": -116.55, | ||
| "z": 0 | ||
| }, | ||
| "orientation": { | ||
| "type": "ov_degrees", | ||
| "value": { | ||
| "x": 0, | ||
| "y": -1, | ||
| "z": 0, | ||
| "th": 90 | ||
| } | ||
| }, | ||
| "geometry": { | ||
| "r": 50.0, | ||
| "l": 200.0, | ||
| "translation": { | ||
| "x": 0, | ||
| "y": -58.275, | ||
| "z": 0 | ||
| }, | ||
| "orientation": { | ||
| "type": "ov_degrees", | ||
| "value": { | ||
| "x": 0, | ||
| "y": -1, | ||
| "z": 0, | ||
| "th": 0 | ||
| } | ||
| } | ||
| } | ||
| } | ||
| ], | ||
| "joints": [ | ||
| { | ||
| "id": "shoulder_pan_joint", | ||
| "type": "revolute", | ||
| "parent": "base_link", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 1 | ||
| }, | ||
| "max": 360, | ||
| "min": -360 | ||
| }, | ||
| { | ||
| "id": "shoulder_lift_joint", | ||
| "type": "revolute", | ||
| "parent": "shoulder_link", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": -1, | ||
| "z": 0 | ||
| }, | ||
| "max": 360, | ||
| "min": -360 | ||
| }, | ||
| { | ||
| "id": "elbow_joint", | ||
| "type": "revolute", | ||
| "parent": "upper_arm_link", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": -1, | ||
| "z": 0 | ||
| }, | ||
| "max": 180, | ||
| "min": -180 | ||
| }, | ||
| { | ||
| "id": "wrist_1_joint", | ||
| "type": "revolute", | ||
| "parent": "forearm_link", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": -1, | ||
| "z": 0 | ||
| }, | ||
| "max": 360, | ||
| "min": -360 | ||
| }, | ||
| { | ||
| "id": "wrist_2_joint", | ||
| "type": "revolute", | ||
| "parent": "wrist_1_link", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": -1 | ||
| }, | ||
| "max": 360, | ||
| "min": -360 | ||
| }, | ||
| { | ||
| "id": "wrist_3_joint", | ||
| "type": "revolute", | ||
| "parent": "wrist_2_link", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": -1, | ||
| "z": 0 | ||
| }, | ||
| "max": 360, | ||
| "min": -360 | ||
| } | ||
| ] | ||
| } |
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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.