Add UR10 example

[Olimoyo]

I've added a UR10 example file and the necessary setup in "ur_setups.py".

Also, in order to get the SenseAct UR code to work with varying firmware versions, I've modified "ur_utils.py" to account for this. The two main changes being:

• Modify the definition of 'REALTIME_COMM_PACKET_SIZE' based on the firmware version.
• Modify SpeedJ to be "optimal" for each firmware version. UR slightly tweaks SpeedJ between firmware versions, and using 't_min = 0.008' on certain versions will cause excessive vibrations and jitter. (See Add time parameter back to speedj for SW >= 3.3. ros-industrial-attic/ur_modern_driver#100 for more details)

[PorkPy]

Hello @Olimoyo @armahmood

Please help!!
After 4 days of trying to get this to work, I'm still unable to.
I am still getting the same error as when I was using the master branch with ur3.5.
Warning: incomplete packet from UR.
I've changed FIRMWARE_VERSION to 3.5 but it's no good.

Also, there is another error when trying to use this branch out of the box.
before even trying to communicate with the robot there is this error;
Traceback (most recent call last): File "examples/advanced/ur10_reacher.py", line 180, in <module> main() File "examples/advanced/ur10_reacher.py", line 44, in main random_state=rand_state File "/home/senseact/envs/ur/reacher_env.py", line 166, in __init__ self._end_effector_low = setups[setup]['end_effector_low'] KeyError: 'UR10_default'
I can get around this error by changing all the 'ur10's in the scripts to ur5s, but it would be nice to know why this is happening.

Many thanks,
Dom.

[Olimoyo]

Hi Dom,

I got the information from the excel document at the bottom of this page: https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-control-via-tcpip-16496/.

The error you're getting is saying that it can't find the key 'UR10_default' in the setup dict, which is defined here. Are you sure that you have all the proper files from this branch?

Hope that helps,
Oliver

[PorkPy]

Hi @Olimoyo ,
Thanks for the reply. I simply git cloned your repo and built using kackin_make.
How many files have you adapted?
The ones I can see with ur10 in them are the example, ur_utils and ur_setups. Everything else seems the same as the master branch.
If you think there is something missing should I just re-clone the repo and start again?
Thanks.
Dom.

[drozzy]

Resetting works on ur10. But action is broken - doesn't do anything.

Any tips?

[drozzy]

Ok - the problem was that our robot uses 5.x version while this only upgrades it up to 3.x.

Still this is good PR I think.
Are you guys going to merge this?

[csherstan]

@Olimoyo what is the max software version you have tested these changes on? Thanks.

[Olimoyo]

@csherstan I was only able to test it on 3.1.

I believe @nily-dti was able to more extensively test different software versions?