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Commit feb3fb49 authored by Simon Gabl's avatar Simon Gabl
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Merge pull request #72 in SWDEV/franka_ros from urdf-add-soft-limits to develop 

* commit '453b6eff':
  Adjust soft limits.
parents bcb26eac 453b6eff
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franka_description/robots/panda_arm.xacro
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...@@ -43,12 +43,12 @@ ...@@ -43,12 +43,12 @@
</collision> </collision>
</link> </link>
<joint name="${arm_id}_joint1" type="revolute"> <joint name="${arm_id}_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/> <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="0 0 0" xyz="0 0 0.333"/> <origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="${arm_id}_link0"/> <parent link="${arm_id}_link0"/>
<child link="${arm_id}_link1"/> <child link="${arm_id}_link1"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.5"/> <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925"/>
</joint> </joint>
<link name="${arm_id}_link2"> <link name="${arm_id}_link2">
<visual> <visual>
...@@ -68,12 +68,12 @@ ...@@ -68,12 +68,12 @@
</collision> </collision>
</link> </link>
<joint name="${arm_id}_joint2" type="revolute"> <joint name="${arm_id}_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.74097" soft_upper_limit="1.74097"/> <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
<origin rpy="-1.570796326794897 0 0" xyz="0 0 0"/> <origin rpy="-1.570796326794897 0 0" xyz="0 0 0"/>
<parent link="${arm_id}_link1"/> <parent link="${arm_id}_link1"/>
<child link="${arm_id}_link2"/> <child link="${arm_id}_link2"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.5"/> <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925"/>
</joint> </joint>
<link name="${arm_id}_link3"> <link name="${arm_id}_link3">
<visual> <visual>
...@@ -93,12 +93,12 @@ ...@@ -93,12 +93,12 @@
</collision> </collision>
</link> </link>
<joint name="${arm_id}_joint3" type="revolute"> <joint name="${arm_id}_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/> <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.570796326794897 0 0" xyz="0 -0.316 0"/> <origin rpy="1.570796326794897 0 0" xyz="0 -0.316 0"/>
<parent link="${arm_id}_link2"/> <parent link="${arm_id}_link2"/>
<child link="${arm_id}_link3"/> <child link="${arm_id}_link3"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.5"/> <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925"/>
</joint> </joint>
<link name="${arm_id}_link4"> <link name="${arm_id}_link4">
<visual> <visual>
...@@ -118,12 +118,12 @@ ...@@ -118,12 +118,12 @@
</collision> </collision>
</link> </link>
<joint name="${arm_id}_joint4" type="revolute"> <joint name="${arm_id}_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.98452" soft_upper_limit="0.082935"/> <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="0.0175"/>
<origin rpy="1.570796326794897 0 0" xyz="0.0825 0 0"/> <origin rpy="1.570796326794897 0 0" xyz="0.0825 0 0"/>
<parent link="${arm_id}_link3"/> <parent link="${arm_id}_link3"/>
<child link="${arm_id}_link4"/> <child link="${arm_id}_link4"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.5"/> <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925"/>
</joint> </joint>
<link name="${arm_id}_link5"> <link name="${arm_id}_link5">
<visual> <visual>
...@@ -143,12 +143,12 @@ ...@@ -143,12 +143,12 @@
</collision> </collision>
</link> </link>
<joint name="${arm_id}_joint5" type="revolute"> <joint name="${arm_id}_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/> <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="-1.570796326794897 0 0" xyz="-0.0825 0.384 0"/> <origin rpy="-1.570796326794897 0 0" xyz="-0.0825 0.384 0"/>
<parent link="${arm_id}_link4"/> <parent link="${arm_id}_link4"/>
<child link="${arm_id}_link5"/> <child link="${arm_id}_link5"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="3"/> <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710"/>
</joint> </joint>
<link name="${arm_id}_link6"> <link name="${arm_id}_link6">
<visual> <visual>
...@@ -168,12 +168,12 @@ ...@@ -168,12 +168,12 @@
</collision> </collision>
</link> </link>
<joint name="${arm_id}_joint6" type="revolute"> <joint name="${arm_id}_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.082935" soft_upper_limit="3.631185"/> <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
<origin rpy="1.570796326794897 0 0" xyz="0 0 0"/> <origin rpy="1.570796326794897 0 0" xyz="0 0 0"/>
<parent link="${arm_id}_link5"/> <parent link="${arm_id}_link5"/>
<child link="${arm_id}_link6"/> <child link="${arm_id}_link6"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="3"/> <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710"/>
</joint> </joint>
<link name="${arm_id}_link7"> <link name="${arm_id}_link7">
<visual> <visual>
...@@ -193,12 +193,12 @@ ...@@ -193,12 +193,12 @@
</collision> </collision>
</link> </link>
<joint name="${arm_id}_joint7" type="revolute"> <joint name="${arm_id}_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/> <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.570796326794897 0 0" xyz="0.088 0 0"/> <origin rpy="1.570796326794897 0 0" xyz="0.088 0 0"/>
<parent link="${arm_id}_link6"/> <parent link="${arm_id}_link6"/>
<child link="${arm_id}_link7"/> <child link="${arm_id}_link7"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="3"/> <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710"/>
</joint> </joint>
<link name="${arm_id}_link8"/> <link name="${arm_id}_link8"/>
<joint name="${arm_id}_joint8" type="fixed"> <joint name="${arm_id}_joint8" type="fixed">
......
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