diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro index 422f0b2a747ca1dd68dacf1edc5c4aec1016b898..885304495caa43d8383333872b3248edcb406295 100644 --- a/ur_description/urdf/ur10.urdf.xacro +++ b/ur_description/urdf/ur10.urdf.xacro @@ -26,7 +26,9 @@ wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${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 --> <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> @@ -95,9 +97,15 @@ <axis xyz="0 0 1" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -128,9 +136,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -161,9 +175,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -194,9 +214,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -227,9 +253,15 @@ <axis xyz="0 0 1" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -260,9 +292,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> diff --git a/ur_description/urdf/ur3.urdf.xacro b/ur_description/urdf/ur3.urdf.xacro index 5ccf410f3f1c1081591af34874a35df7a16aad65..bdcdac328dfe453a25ffb1c3e0d3dd1c2536df42 100644 --- a/ur_description/urdf/ur3.urdf.xacro +++ b/ur_description/urdf/ur3.urdf.xacro @@ -25,7 +25,9 @@ wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${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 --> <xacro:property name="base_mass" value="2.0" /> <!-- This mass might be incorrect --> @@ -94,9 +96,15 @@ <axis xyz="0 0 1" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -127,9 +135,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -160,9 +174,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -193,9 +213,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -226,9 +252,15 @@ <axis xyz="0 0 1" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -259,9 +291,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro index 8daf417ef21fc1cf502be7fab5a2c7226d47e42e..f7de23d65c80e81b6602850d4b8ca39abde7b4fd 100644 --- a/ur_description/urdf/ur5.urdf.xacro +++ b/ur_description/urdf/ur5.urdf.xacro @@ -21,7 +21,9 @@ wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${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 --> <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> @@ -111,9 +113,15 @@ <axis xyz="0 0 1" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -144,9 +152,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -177,9 +191,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -210,9 +230,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -243,9 +269,15 @@ <axis xyz="0 0 1" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint> @@ -276,9 +308,15 @@ <axis xyz="0 1 0" /> <xacro:unless value="${joint_limited}"> <limit lower="${-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="${safety_k_position}" k_velocity="0.0"/> + </xacro:if> </xacro:unless> <xacro:if value="${joint_limited}"> <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> <dynamics damping="0.0" friction="0.0"/> </joint>