Merge pull request #14 from alper111:main

PiperOrigin-RevId: 567837345 Change-Id: Id84312e78a3679085303dbb40fff50fdd127a965
google-deepmind · Sep 23, 2023 · 5f4c663 · 5f4c663
2 parents a42ef80 + dccf05b
commit 5f4c663
Show file tree

Hide file tree

Showing 27 changed files with 899,837 additions and 0 deletions.
diff --git a/LICENSE b/LICENSE
@@ -1728,6 +1728,38 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
+================================================================================
+License for contents in the directory 'universal_robots_ur10e/'
+================================================================================
+
+Copyright 2018 ROS Industrial Consortium
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
 ================================================================================
 License for contents in the directory 'universal_robots_ur5e/'
 ================================================================================

diff --git a/README.md b/README.md
@@ -159,6 +159,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Arms               |              |         |
 | [Panda](franka_emika_panda/README.md)|[<img src="franka_emika_panda/panda.png" width="400">](franka_emika_panda/README.md)|B|
 | [UR5e](universal_robots_ur5e/README.md)|[<img src="universal_robots_ur5e/ur5e.png" width="400">](universal_robots_ur5e/README.md)|B|
+| [UR10e](universal_robots_ur10e/README.md)|[<img src="universal_robots_ur10e/ur10e.png" width="400">](universal_robots_ur10e/README.md)|C|
 | [KUKA iiwa 14](kuka_iiwa_14/README.md)|[<img src="kuka_iiwa_14/iiwa_14.png" width="400">](kuka_iiwa_14/README.md)|B|
 | [Sawyer](rethink_robotics_sawyer/README.md)|[<img src="rethink_robotics_sawyer/sawyer.png" width="400">](rethink_robotics_sawyer/README.md)|C|
 | [xArm7](ufactory_xarm7/README.md)|[<img src="ufactory_xarm7/xarm7.png" width="400">](ufactory_xarm7/README.md)|C|

diff --git a/universal_robots_ur10e/LICENSE b/universal_robots_ur10e/LICENSE
@@ -0,0 +1,26 @@
+Copyright 2018 ROS Industrial Consortium
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/universal_robots_ur10e/README.md b/universal_robots_ur10e/README.md
@@ -0,0 +1,42 @@
+# Universal Robots UR10e Description (MJCF)
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the
+[UR10e](https://www.universal-robots.com/products/ur10-robot/) developed by
+[Universal Robots](https://www.universal-robots.com/). It is derived from the
+[publicly available URDF
+description](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description).
+
+<p float="left">
+ <img src="ur10e.png" width="400">
+</p>
+
+### URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+   files](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description/meshes/ur10e/visual)
+   to OBJ format using [Blender](https://www.blender.org/).
+    - In this process, the Z axis of the joint that a link is connected to should point up.
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+5. Added a tracking light to the base.
+6. Manually edited the MJCF to extract common properties into the `<default>` section.
+7. Manually edited colors to match UR10 colors.
+8. Added position-controlled actuators and joint damping and armature. Note
+   that these values have not been carefully tuned -- contributions are more
+   than welcome to improve them.
+9. Added home joint configuration as a `keyframe`.
+10. Manually designed collision geometries to be as realistic as UR10's shape.
+10. Added `scene.xml`, which includes the robot, with a textured ground plane, skybox, and haze.
+
+### Notes
+Although the model is stable in the `scene.xml`, you might see unstable behavior when combined with
+other models (i.e., Robotiq-2F85 gripper). Switching the integrator from `Euler` to `RK4` helps in
+these cases.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).