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Unverified Commit 9eccd190 authored by JeremyZoss's avatar JeremyZoss Committed by GitHub
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Merge pull request #437 from ipa-nhg/safetylimits 

Add optional safety_controller tags to all joints in xacro macros
parents 67341423 bbbaf610
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ur_description/urdf/ur10.urdf.xacro
+ 39
− 1
View file @ 9eccd190
...@@ -26,7 +26,9 @@ ...@@ -26,7 +26,9 @@
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface"> transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false safety_pos_margin:=0.15
safety_k_position:=20">
<!-- Inertia parameters --> <!-- Inertia parameters -->
<xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
...@@ -96,9 +98,15 @@ ...@@ -96,9 +98,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="2.16"/> <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="2.16"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -129,9 +137,15 @@ ...@@ -129,9 +137,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="2.16"/> <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="2.16"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -162,9 +176,15 @@ ...@@ -162,9 +176,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/> <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -195,9 +215,15 @@ ...@@ -195,9 +215,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="3.2"/> <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -228,9 +254,15 @@ ...@@ -228,9 +254,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="3.2"/> <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -261,9 +293,15 @@ ...@@ -261,9 +293,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="3.2"/> <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
......
ur_description/urdf/ur3.urdf.xacro
+ 39
− 1
View file @ 9eccd190
...@@ -25,7 +25,9 @@ ...@@ -25,7 +25,9 @@
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface"> transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false safety_pos_margin:=0.15
safety_k_position:=20">
<!-- Inertia parameters --> <!-- Inertia parameters -->
<xacro:property name="base_mass" value="2.0" /> <!-- This mass might be incorrect --> <xacro:property name="base_mass" value="2.0" /> <!-- This mass might be incorrect -->
...@@ -94,9 +96,15 @@ ...@@ -94,9 +96,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="2.16"/> <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="2.16"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -127,9 +135,15 @@ ...@@ -127,9 +135,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="2.16"/> <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="2.16"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -160,9 +174,15 @@ ...@@ -160,9 +174,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/> <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -193,9 +213,15 @@ ...@@ -193,9 +213,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="3.2"/> <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -226,9 +252,15 @@ ...@@ -226,9 +252,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="3.2"/> <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -259,9 +291,15 @@ ...@@ -259,9 +291,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="3.2"/> <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
......
ur_description/urdf/ur5.urdf.xacro
+ 39
− 1
View file @ 9eccd190
...@@ -21,7 +21,9 @@ ...@@ -21,7 +21,9 @@
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface"> transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false safety_pos_margin:=0.15
safety_k_position:=20">
<!-- Inertia parameters --> <!-- Inertia parameters -->
<xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
...@@ -111,9 +113,15 @@ ...@@ -111,9 +113,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.15"/> <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -144,9 +152,15 @@ ...@@ -144,9 +152,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.15"/> <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -177,9 +191,15 @@ ...@@ -177,9 +191,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/> <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -210,9 +230,15 @@ ...@@ -210,9 +230,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="3.2"/> <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -243,9 +269,15 @@ ...@@ -243,9 +269,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="3.2"/> <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -276,9 +308,15 @@ ...@@ -276,9 +308,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="3.2"/> <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="3.2"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
......
ur_e_description/urdf/ur10e.urdf.xacro
+ 45
− 6
View file @ 9eccd190
...@@ -25,7 +25,10 @@ ...@@ -25,7 +25,10 @@
elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi}
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}"> wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false safety_pos_margin:=0.15
safety_k_position:=20">
<!-- Inertia parameters --> <!-- Inertia parameters -->
<xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
...@@ -94,9 +97,15 @@ ...@@ -94,9 +97,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="3.14"/> <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -127,9 +136,15 @@ ...@@ -127,9 +136,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="3.14"/> <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -160,9 +175,15 @@ ...@@ -160,9 +175,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/> <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -193,9 +214,15 @@ ...@@ -193,9 +214,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="6.28"/> <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -226,9 +253,15 @@ ...@@ -226,9 +253,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="6.28"/> <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -259,9 +292,15 @@ ...@@ -259,9 +292,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="6.28"/> <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
......
ur_e_description/urdf/ur3e.urdf.xacro
+ 45
− 6
View file @ 9eccd190
...@@ -24,7 +24,10 @@ ...@@ -24,7 +24,10 @@
elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi}
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}"> wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false safety_pos_margin:=0.15
safety_k_position:=20">
<!-- Inertia parameters --> <!-- Inertia parameters -->
<xacro:property name="base_mass" value="2.0" /> <!-- This mass might be incorrect --> <xacro:property name="base_mass" value="2.0" /> <!-- This mass might be incorrect -->
...@@ -93,9 +96,15 @@ ...@@ -93,9 +96,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="3.14"/> <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -126,9 +135,15 @@ ...@@ -126,9 +135,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="3.14"/> <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -159,9 +174,15 @@ ...@@ -159,9 +174,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/> <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -192,9 +213,15 @@ ...@@ -192,9 +213,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="6.28"/> <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -225,9 +252,15 @@ ...@@ -225,9 +252,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="6.28"/> <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -258,9 +291,15 @@ ...@@ -258,9 +291,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="6.28"/> <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
......
ur_e_description/urdf/ur5e.urdf.xacro
+ 45
− 6
View file @ 9eccd190
...@@ -20,7 +20,10 @@ ...@@ -20,7 +20,10 @@
elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi}
wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}"> wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
transmission_hw_interface:=hardware_interface/PositionJointInterface
safety_limits:=false safety_pos_margin:=0.15
safety_k_position:=20">
<!-- Inertia parameters --> <!-- Inertia parameters -->
<xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
...@@ -110,9 +113,15 @@ ...@@ -110,9 +113,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.14"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.14"/> <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -143,9 +152,15 @@ ...@@ -143,9 +152,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.14"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.14"/> <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -176,9 +191,15 @@ ...@@ -176,9 +191,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/> <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/> <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -209,9 +230,15 @@ ...@@ -209,9 +230,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="6.28"/> <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -242,9 +269,15 @@ ...@@ -242,9 +269,15 @@
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="6.28"/> <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
...@@ -275,9 +308,15 @@ ...@@ -275,9 +308,15 @@
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}"> <xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:unless> </xacro:unless>
<xacro:if value="${joint_limited}"> <xacro:if value="${joint_limited}">
<limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="6.28"/> <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="6.28"/>
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
</xacro:if> </xacro:if>
<dynamics damping="0.0" friction="0.0"/> <dynamics damping="0.0" friction="0.0"/>
</joint> </joint>
......
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