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Merge pull request #2 from cambel/update-robot-descriptions
Update robot descriptions
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80 changes: 80 additions & 0 deletions
80
catkin_ws/src/o2ac_scene_description/config/a_bot_joint_limits.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| # Joints limits | ||
| # | ||
| # Sources: | ||
| # | ||
| # - UR5 User Manual, Universal Robots, UR5/CB3, Version 3.13 | ||
| # https://s3-eu-west-1.amazonaws.com/ur-support-site/69371/99202_UR5_User_Manual_en_Global.pdf | ||
| # - Support > Articles > UR articles > Max. joint torques | ||
| # https://www.universal-robots.com/articles/ur-articles/max-joint-torques | ||
| # retrieved: 2020-06-16, last modified: 2020-06-09 | ||
| joint_limits: | ||
| shoulder_pan: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 150.0 | ||
| max_position: !degrees 180.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -180.0 | ||
| shoulder_lift: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 150.0 | ||
| max_position: !degrees 180.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -180.0 | ||
| elbow_joint: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 150.0 | ||
| # we artificially limit this joint to half its actual joint position limit | ||
| # to avoid (MoveIt/OMPL) planning problems, as due to the physical | ||
| # construction of the robot, it's impossible to rotate the 'elbow_joint' | ||
| # over more than approx +- 1 pi (the shoulder lift joint gets in the way). | ||
| # | ||
| # This leads to planning problems as the search space will be divided into | ||
| # two sections, with no connections from one to the other. | ||
| # | ||
| # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for | ||
| # more information. | ||
| max_position: !degrees 180.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees 0.0 | ||
| wrist_1: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 28.0 | ||
| max_position: !degrees 180.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -270.0 | ||
| wrist_2: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 28.0 | ||
| max_position: !degrees 270.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -270.0 | ||
| wrist_3: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 28.0 | ||
| max_position: !degrees 360.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -360.0 |
80 changes: 80 additions & 0 deletions
80
catkin_ws/src/o2ac_scene_description/config/b_bot_joint_limits.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| # Joints limits | ||
| # | ||
| # Sources: | ||
| # | ||
| # - UR5 User Manual, Universal Robots, UR5/CB3, Version 3.13 | ||
| # https://s3-eu-west-1.amazonaws.com/ur-support-site/69371/99202_UR5_User_Manual_en_Global.pdf | ||
| # - Support > Articles > UR articles > Max. joint torques | ||
| # https://www.universal-robots.com/articles/ur-articles/max-joint-torques | ||
| # retrieved: 2020-06-16, last modified: 2020-06-09 | ||
| joint_limits: | ||
| shoulder_pan: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 150.0 | ||
| max_position: !degrees 180.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -180.0 | ||
| shoulder_lift: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 150.0 | ||
| max_position: !degrees 180.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -180.0 | ||
| elbow_joint: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 150.0 | ||
| # we artificially limit this joint to half its actual joint position limit | ||
| # to avoid (MoveIt/OMPL) planning problems, as due to the physical | ||
| # construction of the robot, it's impossible to rotate the 'elbow_joint' | ||
| # over more than approx +- 1 pi (the shoulder lift joint gets in the way). | ||
| # | ||
| # This leads to planning problems as the search space will be divided into | ||
| # two sections, with no connections from one to the other. | ||
| # | ||
| # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for | ||
| # more information. | ||
| max_position: !degrees 180.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees 0.0 | ||
| wrist_1: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 28.0 | ||
| max_position: !degrees 180.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -270.0 | ||
| wrist_2: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 28.0 | ||
| max_position: !degrees 270.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -270.0 | ||
| wrist_3: | ||
| # acceleration limits are not publicly available | ||
| has_acceleration_limits: false | ||
| has_effort_limits: true | ||
| has_position_limits: true | ||
| has_velocity_limits: true | ||
| max_effort: 28.0 | ||
| max_position: !degrees 360.0 | ||
| max_velocity: !degrees 180.0 | ||
| min_position: !degrees -360.0 |
7 changes: 6 additions & 1 deletion
7
catkin_ws/src/o2ac_scene_description/launch/base_scene_upload.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_robot_gazebo"> | ||
|
|
||
| <!-- Convenient wrapper for ur-gazebo macro --> | ||
|
|
||
| <xacro:macro name="ur_robot" params=" | ||
| prefix | ||
| joint_limits_parameters_file | ||
| kinematics_parameters_file | ||
| physical_parameters_file | ||
| visual_parameters_file | ||
| transmission_hw_interface:=hardware_interface/PositionJointInterface | ||
| safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20"> | ||
|
|
||
| <xacro:include filename="$(find o2ac_scene_description)/urdf/ur_gazebo_macro.xacro"/> | ||
|
|
||
| <!-- Instantiate the Gazebo robot and pass it all the required arguments. --> | ||
| <xacro:ur_robot_gazebo | ||
| prefix="${prefix}" | ||
| joint_limits_parameters_file="${joint_limits_parameters_file}" | ||
| kinematics_parameters_file="${kinematics_parameters_file}" | ||
| physical_parameters_file="${physical_parameters_file}" | ||
| visual_parameters_file="${visual_parameters_file}" | ||
| transmission_hw_interface="${transmission_hw_interface}" | ||
| safety_limits="${safety_limits}" | ||
| safety_pos_margin="${safety_pos_margin}" | ||
| safety_k_position="${safety_k_position}" | ||
| /> | ||
|
|
||
| </xacro:macro> | ||
|
|
||
|
|
||
| </robot> |
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