Ur3 infinite wrist #196
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Ur3 infinite wrist #196
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fmauch
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Sep 19, 2024
urdf/ur_macro.xacro
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| <xacro:property name="config_joint_limit_parameters" value="${xacro.load_yaml(joint_limits_parameters_file)}"/> | ||
| <xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/> |
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We can probably get around this by putting the parsed values into the parent scope in ur_common.xacro
urdf/ur_macro.xacro
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| <xacro:if value="${sec_limits['wrist_3_joint']['has_position_limits']}"> | ||
| <joint name="${tf_prefix}wrist_3_joint" type="revolute"> | ||
| <parent link="${tf_prefix}wrist_2_link" /> | ||
| <child link="${tf_prefix}wrist_3_link" /> | ||
| <origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}" /> | ||
| <axis xyz="0 0 1" /> | ||
| <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" | ||
| effort="${wrist_3_effort_limit}" velocity="${wrist_3_velocity_limit}"/> | ||
| <xacro:if value="${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="${safety_k_position}" k_velocity="0.0"/> | ||
| </xacro:if> | ||
| <dynamics damping="0" friction="0"/> | ||
| </joint> | ||
| </xacro:if> | ||
| <xacro:unless value="${sec_limits['wrist_3_joint']['has_position_limits']}"> | ||
| <joint name="${tf_prefix}wrist_3_joint" type="continuous"> | ||
| <parent link="${tf_prefix}wrist_2_link" /> | ||
| <child link="${tf_prefix}wrist_3_link" /> | ||
| <origin xyz="${wrist_3_x} ${wrist_3_y} ${wrist_3_z}" rpy="${wrist_3_roll} ${wrist_3_pitch} ${wrist_3_yaw}" /> | ||
| <axis xyz="0 0 1" /> | ||
| <limit effort="${wrist_3_effort_limit}" velocity="${wrist_3_velocity_limit}"/> | ||
| <xacro:if value="${safety_limits}"> | ||
| <safety_controller k_position="${safety_k_position}" k_velocity="0.0"/> | ||
| </xacro:if> | ||
| <dynamics damping="0" friction="0"/> | ||
| </joint> | ||
| </xacro:unless> |
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I think, this can be written a bit neater:
- We could specify the joint_type, e.g. in
ur_commonaswrist_3_joint_type - We could put a
<xacro:if value="${wrist_3_joint_type} != continuous">around the limit tag only.
IMHO this would reduce code duplication while also improving readability.
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fmauch
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Sep 25, 2024
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Sep 25, 2024
Change URDF to reflect ur3(e)'s infinite wrist 3 joint (cherry picked from commit 352a35c)
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Change URDF to reflect ur3(e)'s infinite wrist 3 joint (cherry picked from commit 352a35c)
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fmauch
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This is related to #174.
The URDF now reflects the possibility of using the infinite wrist on the UR3(e), but can also still be configured to have limits via the limits file.