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Ur3 infinite wrist #196

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Merged
merged 3 commits into from
Sep 25, 2024
Merged

Ur3 infinite wrist #196

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5743127
Change URDF to reflect ur3(e)'s infinite wrist 3 joint
URJala Jul 16, 2024
a0c2908
Cut down on code duplication
URJala Sep 25, 2024
3e641e7
Formatting
URJala Sep 25, 2024
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4 changes: 1 addition & 3 deletions config/ur3/joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -72,9 +72,7 @@ joint_limits:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_position_limits: false
has_velocity_limits: true
max_effort: 12.0
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
4 changes: 1 addition & 3 deletions config/ur3e/joint_limits.yaml
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Expand Up @@ -72,9 +72,7 @@ joint_limits:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_position_limits: false
has_velocity_limits: true
max_effort: 9.0
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
10 changes: 8 additions & 2 deletions urdf/inc/ur_common.xacro
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Expand Up @@ -78,8 +78,14 @@
<xacro:property name="wrist_2_upper_limit" value="${sec_limits['wrist_2_joint']['max_position']}" scope="parent"/>
<xacro:property name="wrist_2_velocity_limit" value="${sec_limits['wrist_2_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="wrist_2_effort_limit" value="${sec_limits['wrist_2_joint']['max_effort']}" scope="parent"/>
<xacro:property name="wrist_3_lower_limit" value="${sec_limits['wrist_3_joint']['min_position']}" scope="parent"/>
<xacro:property name="wrist_3_upper_limit" value="${sec_limits['wrist_3_joint']['max_position']}" scope="parent"/>
<xacro:if value="${sec_limits['wrist_3_joint']['has_position_limits']}">
<xacro:property name="wrist_3_joint_type" value="revolute" scope="parent"/>
<xacro:property name="wrist_3_lower_limit" value="${sec_limits['wrist_3_joint']['min_position']}" scope="parent"/>
<xacro:property name="wrist_3_upper_limit" value="${sec_limits['wrist_3_joint']['max_position']}" scope="parent"/>
</xacro:if>
<xacro:unless value="${sec_limits['wrist_3_joint']['has_position_limits']}">
<xacro:property name="wrist_3_joint_type" value="continuous" scope="parent"/>
</xacro:unless>
<xacro:property name="wrist_3_velocity_limit" value="${sec_limits['wrist_3_joint']['max_velocity']}" scope="parent"/>
<xacro:property name="wrist_3_effort_limit" value="${sec_limits['wrist_3_joint']['max_effort']}" scope="parent"/>

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18 changes: 13 additions & 5 deletions urdf/ur_macro.xacro
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Expand Up @@ -331,16 +331,24 @@
</xacro:if>
<dynamics damping="0" friction="0"/>
</joint>
<joint name="${tf_prefix}wrist_3_joint" type="revolute">
<joint name="${tf_prefix}wrist_3_joint" type="${wrist_3_joint_type}">
<parent link="${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="${safety_k_position}" k_velocity="0.0"/>
<xacro:if value="${wrist_3_joint_type != 'continuous'}">
<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>
</xacro:if>
<xacro:unless value="${wrist_3_joint_type != 'continuous'}">
<limit effort="${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>
</xacro:unless>
<dynamics damping="0" friction="0"/>
</joint>

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