Ur3 infinite wrist (backport of #196)

UniversalRobots · Sep 26, 2024 · 7f06077 · 7f06077
1 parent b915c2a
commit 7f06077
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Showing 4 changed files with 23 additions and 13 deletions.
diff --git a/config/ur3/joint_limits.yaml b/config/ur3/joint_limits.yaml
@@ -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
diff --git a/config/ur3e/joint_limits.yaml b/config/ur3e/joint_limits.yaml
@@ -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
diff --git a/urdf/inc/ur_common.xacro b/urdf/inc/ur_common.xacro
@@ -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"/>
 

diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
@@ -402,16 +402,24 @@
       </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>