ur_description

Radius definitions removed

The shoulder_radius: ... and alike for the other joints got removed from the physical_parameters.yaml files. Alongside parsing these got removed from urdf/inc/ur_common.xacro. Using the new parameter files with the old parser (if that git copied to a modified package) will fail.

All mesh offsets are now part of the visual_parameters

The physical_parameters did contain the two mesh offsets for the shoulder and elbow. These got now moved to the visual_parameters.yaml files.

Mesh offsets defined with all 6 DOF

The visual_parameters.yaml files now contain the mesh offsets for all 6 dimensions. The URDF expects this structure of the config files. So, the URDF won’t accept any old visual parameter config files. They will have to be updated to contain the full mesh_offset entries.