diff --git a/CAD_Designs/vl53l7cx.stl b/CAD_Designs/vl53l7cx.stl
index 25e693fe915d28329a4502a89bbf711955d054b1..bf40d83b97c8d9fe6d732ee3018a793ab4a66488 100644
Binary files a/CAD_Designs/vl53l7cx.stl and b/CAD_Designs/vl53l7cx.stl differ
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/initial_positions.yaml b/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/initial_positions.yaml
index f74bbbd9c2eafacaa7a638fb963766611a4b2135..343a1821fd45f45252bd11844ddd02c1ca6f0b2b 100644
--- a/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/initial_positions.yaml
+++ b/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/initial_positions.yaml
@@ -1,6 +1,7 @@
shoulder_pan_joint: 0.0
shoulder_lift_joint: -1.57
elbow_joint: 0.0
+sensor_joint: 0.0
wrist_1_joint: -1.57
wrist_2_joint: 0.0
wrist_3_joint: 0.0
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/default_kinematics.yaml b/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/default_kinematics.yaml
index 3054ec13ec7e955e333cffac74dd9c6afba64aaf..f7da8171f7d844cf763317a37967eca353b78d7d 100644
--- a/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/default_kinematics.yaml
+++ b/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/default_kinematics.yaml
@@ -22,8 +22,8 @@ kinematics:
yaw: 0
sensor:
x: -0.30635
- y: 0
- z: 0
+ y: 0.0
+ z: 0.02
roll: 0
pitch: 0
yaw: 0
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/joint_limits.yaml b/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/joint_limits.yaml
index 44be1f4a512c3b6a3ccb4e17022e24dbd4647cfb..fc75bc8a7d114730c8db9cad4950564df409f99f 100644
--- a/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/joint_limits.yaml
+++ b/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/joint_limits.yaml
@@ -48,6 +48,16 @@ joint_limits:
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
+ sensor_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: 0.0
+ max_position: !degrees 0.0
+ max_velocity: !degrees 0.0
+ min_position: !degrees 0.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/physical_parameters.yaml b/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/physical_parameters.yaml
index 702527a213422bf6cfb57fbe57b1b2b400ceffec..a099e953668d0037c486474f8e99e3b9f98130bc 100644
--- a/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/physical_parameters.yaml
+++ b/workspaces/COLCON_WS/install/ur_description/share/ur_description/config/ur10e/physical_parameters.yaml
@@ -3,7 +3,7 @@
offsets:
shoulder_offset: 0.1762 # measured from model
elbow_offset: 0.0393 # measured from model
- sensor_offset: 0.02 # measured from model
+ sensor_offset: 0.00 # measured from model
inertia_parameters:
base_mass: 4.0 # This mass might be incorrect
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/collision/vl53l7cx.stl b/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/collision/vl53l7cx.stl
index fdd48bab0718d007f0605c2db77e739fab8f00d3..bf40d83b97c8d9fe6d732ee3018a793ab4a66488 100644
Binary files a/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/collision/vl53l7cx.stl and b/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/collision/vl53l7cx.stl differ
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/inc/ur_common.xacro b/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/inc/ur_common.xacro
index a1d3d902d2f74c810da78394a3bb330a3f6827dd..68594ef81f92da8f8cbd0314b6597bceeb3bffe7 100644
--- a/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/inc/ur_common.xacro
+++ b/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/inc/ur_common.xacro
@@ -70,6 +70,10 @@
<xacro:property name="elbow_joint_upper_limit" value="${sec_limits['elbow_joint']['max_position']}" scope="parent"/>
<xacro:property name="elbow_joint_velocity_limit" value="${sec_limits['elbow_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="elbow_joint_effort_limit" value="${sec_limits['elbow_joint']['max_effort']}" scope="parent"/>
+ <xacro:property name="sensor_joint_lower_limit" value="${sec_limits['sensor_joint']['min_position']}" scope="parent"/>
+ <xacro:property name="sensor_joint_upper_limit" value="${sec_limits['sensor_joint']['max_position']}" scope="parent"/>
+ <xacro:property name="sensor_joint_velocity_limit" value="${sec_limits['sensor_joint']['max_velocity']}" scope="parent"/>
+ <xacro:property name="sensor_joint_effort_limit" value="${sec_limits['sensor_joint']['max_effort']}" scope="parent"/>
<xacro:property name="wrist_1_lower_limit" value="${sec_limits['wrist_1_joint']['min_position']}" scope="parent"/>
<xacro:property name="wrist_1_upper_limit" value="${sec_limits['wrist_1_joint']['max_position']}" scope="parent"/>
<xacro:property name="wrist_1_velocity_limit" value="${sec_limits['wrist_1_joint']['max_velocity']}" scope="parent"/>
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/inc/ur_transmissions.xacro b/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/inc/ur_transmissions.xacro
index 18a86c355d7fc463b0d87696fce134bf1e298b1a..70e457030e5086b09b5d4fd709a3a6f12dccd782 100644
--- a/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/inc/ur_transmissions.xacro
+++ b/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/inc/ur_transmissions.xacro
@@ -28,16 +28,6 @@
</actuator>
</transmission>
- <transmission name="${prefix}elbow_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="${prefix}elbow_joint">
- <hardwareInterface>${hw_interface}</hardwareInterface>
- </joint>
- <actuator name="${prefix}elbow_motor">
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
<transmission name="${prefix}wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_1_joint">
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/ur.ros2_control.xacro b/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/ur.ros2_control.xacro
index e37b5f898e6e398924b3f4b3f507995bf42b5883..c76d8b5f335ed1281be517a1b6d7b58898095894 100644
--- a/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/ur.ros2_control.xacro
+++ b/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/ur.ros2_control.xacro
@@ -7,7 +7,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
- initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+ initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,sensor_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
script_filename output_recipe_filename
input_recipe_filename tf_prefix
@@ -96,6 +96,16 @@
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
+ <joint name="${tf_prefix}sensor_joint">
+ <command_interface name="position"/>
+ <command_interface name="velocity"/>
+ <state_interface name="position">
+ <!-- initial position for the FakeSystem and simulation -->
+ <param name="initial_value">${initial_positions['sensor_joint']}</param>
+ </state_interface>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
<joint name="${tf_prefix}wrist_1_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/ur_macro.xacro b/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/ur_macro.xacro
index 061881a05c46c774f07457cb92e36e6a26034751..f3d1cfd427b5f36f0767e3165d8533e83df3103f 100644
--- a/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/ur_macro.xacro
+++ b/workspaces/COLCON_WS/install/ur_description/share/ur_description/urdf/ur_macro.xacro
@@ -72,7 +72,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
- initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+ initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,sensor_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
tool_voltage:=0
tool_parity:=0
diff --git a/workspaces/COLCON_WS/log/latest_build b/workspaces/COLCON_WS/log/latest_build
index e7d6befd65f0e02f918c038bc9b3eeed6f758f8e..60b5d8923f5f23e87f6fdcc4578b76caa0b43686 120000
--- a/workspaces/COLCON_WS/log/latest_build
+++ b/workspaces/COLCON_WS/log/latest_build
@@ -1 +1 @@
-build_2025-01-23_13-19-43
\ No newline at end of file
+build_2025-01-23_15-31-34
\ No newline at end of file
diff --git a/workspaces/COLCON_WS/src/ur_description/config/initial_positions.yaml b/workspaces/COLCON_WS/src/ur_description/config/initial_positions.yaml
index f74bbbd9c2eafacaa7a638fb963766611a4b2135..343a1821fd45f45252bd11844ddd02c1ca6f0b2b 100644
--- a/workspaces/COLCON_WS/src/ur_description/config/initial_positions.yaml
+++ b/workspaces/COLCON_WS/src/ur_description/config/initial_positions.yaml
@@ -1,6 +1,7 @@
shoulder_pan_joint: 0.0
shoulder_lift_joint: -1.57
elbow_joint: 0.0
+sensor_joint: 0.0
wrist_1_joint: -1.57
wrist_2_joint: 0.0
wrist_3_joint: 0.0
diff --git a/workspaces/COLCON_WS/src/ur_description/config/ur10e/default_kinematics.yaml b/workspaces/COLCON_WS/src/ur_description/config/ur10e/default_kinematics.yaml
index 3054ec13ec7e955e333cffac74dd9c6afba64aaf..f7da8171f7d844cf763317a37967eca353b78d7d 100644
--- a/workspaces/COLCON_WS/src/ur_description/config/ur10e/default_kinematics.yaml
+++ b/workspaces/COLCON_WS/src/ur_description/config/ur10e/default_kinematics.yaml
@@ -22,8 +22,8 @@ kinematics:
yaw: 0
sensor:
x: -0.30635
- y: 0
- z: 0
+ y: 0.0
+ z: 0.02
roll: 0
pitch: 0
yaw: 0
diff --git a/workspaces/COLCON_WS/src/ur_description/config/ur10e/joint_limits.yaml b/workspaces/COLCON_WS/src/ur_description/config/ur10e/joint_limits.yaml
index 44be1f4a512c3b6a3ccb4e17022e24dbd4647cfb..fc75bc8a7d114730c8db9cad4950564df409f99f 100644
--- a/workspaces/COLCON_WS/src/ur_description/config/ur10e/joint_limits.yaml
+++ b/workspaces/COLCON_WS/src/ur_description/config/ur10e/joint_limits.yaml
@@ -48,6 +48,16 @@ joint_limits:
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
+ sensor_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: 0.0
+ max_position: !degrees 0.0
+ max_velocity: !degrees 0.0
+ min_position: !degrees 0.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
diff --git a/workspaces/COLCON_WS/src/ur_description/config/ur10e/physical_parameters.yaml b/workspaces/COLCON_WS/src/ur_description/config/ur10e/physical_parameters.yaml
index 702527a213422bf6cfb57fbe57b1b2b400ceffec..a099e953668d0037c486474f8e99e3b9f98130bc 100644
--- a/workspaces/COLCON_WS/src/ur_description/config/ur10e/physical_parameters.yaml
+++ b/workspaces/COLCON_WS/src/ur_description/config/ur10e/physical_parameters.yaml
@@ -3,7 +3,7 @@
offsets:
shoulder_offset: 0.1762 # measured from model
elbow_offset: 0.0393 # measured from model
- sensor_offset: 0.02 # measured from model
+ sensor_offset: 0.00 # measured from model
inertia_parameters:
base_mass: 4.0 # This mass might be incorrect
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/vl53l7cx.stl b/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/vl53l7cx.stl
index fdd48bab0718d007f0605c2db77e739fab8f00d3..bf40d83b97c8d9fe6d732ee3018a793ab4a66488 100644
Binary files a/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/vl53l7cx.stl and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/vl53l7cx.stl differ
diff --git a/workspaces/COLCON_WS/src/ur_description/urdf/inc/ur_common.xacro b/workspaces/COLCON_WS/src/ur_description/urdf/inc/ur_common.xacro
index a1d3d902d2f74c810da78394a3bb330a3f6827dd..68594ef81f92da8f8cbd0314b6597bceeb3bffe7 100644
--- a/workspaces/COLCON_WS/src/ur_description/urdf/inc/ur_common.xacro
+++ b/workspaces/COLCON_WS/src/ur_description/urdf/inc/ur_common.xacro
@@ -70,6 +70,10 @@
<xacro:property name="elbow_joint_upper_limit" value="${sec_limits['elbow_joint']['max_position']}" scope="parent"/>
<xacro:property name="elbow_joint_velocity_limit" value="${sec_limits['elbow_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="elbow_joint_effort_limit" value="${sec_limits['elbow_joint']['max_effort']}" scope="parent"/>
+ <xacro:property name="sensor_joint_lower_limit" value="${sec_limits['sensor_joint']['min_position']}" scope="parent"/>
+ <xacro:property name="sensor_joint_upper_limit" value="${sec_limits['sensor_joint']['max_position']}" scope="parent"/>
+ <xacro:property name="sensor_joint_velocity_limit" value="${sec_limits['sensor_joint']['max_velocity']}" scope="parent"/>
+ <xacro:property name="sensor_joint_effort_limit" value="${sec_limits['sensor_joint']['max_effort']}" scope="parent"/>
<xacro:property name="wrist_1_lower_limit" value="${sec_limits['wrist_1_joint']['min_position']}" scope="parent"/>
<xacro:property name="wrist_1_upper_limit" value="${sec_limits['wrist_1_joint']['max_position']}" scope="parent"/>
<xacro:property name="wrist_1_velocity_limit" value="${sec_limits['wrist_1_joint']['max_velocity']}" scope="parent"/>
diff --git a/workspaces/COLCON_WS/src/ur_description/urdf/inc/ur_transmissions.xacro b/workspaces/COLCON_WS/src/ur_description/urdf/inc/ur_transmissions.xacro
index 18a86c355d7fc463b0d87696fce134bf1e298b1a..70e457030e5086b09b5d4fd709a3a6f12dccd782 100644
--- a/workspaces/COLCON_WS/src/ur_description/urdf/inc/ur_transmissions.xacro
+++ b/workspaces/COLCON_WS/src/ur_description/urdf/inc/ur_transmissions.xacro
@@ -28,16 +28,6 @@
</actuator>
</transmission>
- <transmission name="${prefix}elbow_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="${prefix}elbow_joint">
- <hardwareInterface>${hw_interface}</hardwareInterface>
- </joint>
- <actuator name="${prefix}elbow_motor">
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
<transmission name="${prefix}wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}wrist_1_joint">
diff --git a/workspaces/COLCON_WS/src/ur_description/urdf/ur.ros2_control.xacro b/workspaces/COLCON_WS/src/ur_description/urdf/ur.ros2_control.xacro
index e37b5f898e6e398924b3f4b3f507995bf42b5883..c76d8b5f335ed1281be517a1b6d7b58898095894 100644
--- a/workspaces/COLCON_WS/src/ur_description/urdf/ur.ros2_control.xacro
+++ b/workspaces/COLCON_WS/src/ur_description/urdf/ur.ros2_control.xacro
@@ -7,7 +7,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
- initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+ initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,sensor_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
script_filename output_recipe_filename
input_recipe_filename tf_prefix
@@ -96,6 +96,16 @@
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
+ <joint name="${tf_prefix}sensor_joint">
+ <command_interface name="position"/>
+ <command_interface name="velocity"/>
+ <state_interface name="position">
+ <!-- initial position for the FakeSystem and simulation -->
+ <param name="initial_value">${initial_positions['sensor_joint']}</param>
+ </state_interface>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
<joint name="${tf_prefix}wrist_1_joint">
<command_interface name="position"/>
<command_interface name="velocity"/>
diff --git a/workspaces/COLCON_WS/src/ur_description/urdf/ur_macro.xacro b/workspaces/COLCON_WS/src/ur_description/urdf/ur_macro.xacro
index 061881a05c46c774f07457cb92e36e6a26034751..f3d1cfd427b5f36f0767e3165d8533e83df3103f 100644
--- a/workspaces/COLCON_WS/src/ur_description/urdf/ur_macro.xacro
+++ b/workspaces/COLCON_WS/src/ur_description/urdf/ur_macro.xacro
@@ -72,7 +72,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
- initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+ initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,sensor_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
tool_voltage:=0
tool_parity:=0