ur_installation_to_urdf

This is a script/ROS package that will take the installation file from a UR controller and update the URDF in ROS to match. Settings include:

• Joint Position Limits
• Joint Speed Limits
• Joint Force Limits

Tested with UR PolyScope 3.3.4.310 and 3.4.0.265

Getting Started

Save a .installation file from the robot and copy it to your local machine.
update_urdf_from_installation.py [urdf_location] [installation_location]

Prerequisites

pip install xmltodict