jhu-daVinci: fixed joint limits in IO files

dvrk-config · Nov 3, 2023 · 6f1e2a4 · 6f1e2a4
1 parent 9a69de0
commit 6f1e2a4
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Showing 11 changed files with 72 additions and 23 deletions.
diff --git a/jhu-dVRK/sawRobotIO1394-MTML-22723.xml b/jhu-dVRK/sawRobotIO1394-MTML-22723.xml
@@ -122,7 +122,7 @@
          <Tolerance Axis="5" Distance="5.00" Latency="0.01" Unit="deg"/>
          <Tolerance Axis="6" Distance="0.00" Latency="0.00" Unit="deg"/>
          <JointToActuatorPosition>
-	    <Row Val="1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000" />
+            <Row Val="1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000" />
             <Row Val="0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000" />
             <Row Val="0.0000 1.0000 1.0000 0.0000 0.0000 0.0000 0.0000" />
             <Row Val="0.0000 0.0000 0.6697 1.0000 0.0000 0.0000 0.0000" />

diff --git a/jhu-dVRK/sawRobotIO1394-MTML-gripper-22723.xml b/jhu-dVRK/sawRobotIO1394-MTML-gripper-22723.xml
@@ -10,6 +10,7 @@
          </Drive>
          <Encoder>
             <BitsToPosSI Scale="1.0" Unit="deg"/>
+            <PositionLimitsSoft Lower="0.0" Upper="0.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05"/>

diff --git a/jhu-dVRK/sawRobotIO1394-PSM1-28007.xml b/jhu-dVRK/sawRobotIO1394-PSM1-28007.xml
@@ -9,6 +9,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00044248" Unit="deg" />
+            <PositionLimitsSoft Lower="-91.0" Upper="91.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -24,6 +25,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00044248" Unit="deg" />
+            <PositionLimitsSoft Lower="-53.0" Upper="53.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -39,6 +41,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00129629" Unit="mm" />
+            <PositionLimitsSoft Lower="0.0" Upper="240.0" Unit="mm" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -54,6 +57,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00768574" Unit="deg" />
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -69,6 +73,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00768574" Unit="deg" />
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -84,6 +89,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00768574" Unit="deg" />
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -99,20 +105,21 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00768574" Unit="deg" />
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
             <VoltsToPosSI Offset="177.20400852380342" Scale="-78.81892048953073" Unit="deg" />
          </AnalogIn>
       </Actuator>
       <Potentiometers Position="Actuators">
-	<Tolerance Axis="0" Distance="5.0" Latency="0.01" Unit="deg" />
-	<Tolerance Axis="1" Distance="5.0" Latency="0.01" Unit="deg" />
-	<Tolerance Axis="2" Distance="5.0" Latency="0.01" Unit="mm" />
-	<Tolerance Axis="3" Distance="10.0" Latency="0.01" Unit="deg" />
-	<Tolerance Axis="4" Distance="10.0" Latency="0.01" Unit="deg" />
-	<Tolerance Axis="5" Distance="10.0" Latency="0.01" Unit="deg" />
-	<Tolerance Axis="6" Distance="10.0" Latency="0.01" Unit="deg" />
+        <Tolerance Axis="0" Distance="5.0" Latency="0.01" Unit="deg" />
+        <Tolerance Axis="1" Distance="5.0" Latency="0.01" Unit="deg" />
+        <Tolerance Axis="2" Distance="5.0" Latency="0.01" Unit="mm" />
+        <Tolerance Axis="3" Distance="10.0" Latency="0.01" Unit="deg" />
+        <Tolerance Axis="4" Distance="10.0" Latency="0.01" Unit="deg" />
+        <Tolerance Axis="5" Distance="10.0" Latency="0.01" Unit="deg" />
+        <Tolerance Axis="6" Distance="10.0" Latency="0.01" Unit="deg" />
       </Potentiometers>
    </Robot>
    <DigitalIn BitID="0" BoardID="6" Debounce="0.2" Name="PSM1-SUJClutch" Pressed="1" Trigger="all" />

diff --git a/jhu-daVinci/sawRobotIO1394-ECM-29738.xml b/jhu-daVinci/sawRobotIO1394-ECM-29738.xml
@@ -18,6 +18,7 @@
          </AnalogBrake>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00037500" Unit="deg" />
+            <PositionLimitsSoft Lower="-90.0" Upper="90.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -42,6 +43,7 @@
          </AnalogBrake>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00037500" Unit="deg" />
+            <PositionLimitsSoft Lower="-45.0" Upper="64.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -66,6 +68,7 @@
          </AnalogBrake>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00357188" Unit="mm" />
+            <PositionLimitsSoft Lower="0.0" Upper="255.0" Unit="mm" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -81,6 +84,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.01874063" Unit="deg" />
+            <PositionLimitsSoft Lower="-89.0" Upper="89.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />

diff --git a/jhu-daVinci/sawRobotIO1394-MTML-34863.xml b/jhu-daVinci/sawRobotIO1394-MTML-34863.xml
@@ -9,6 +9,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00141933" Unit="deg" />
+            <PositionLimitsSoft Lower="-40.0" Upper="65.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -24,6 +25,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00180433" Unit="deg" />
+            <PositionLimitsSoft Lower="-18.0" Upper="65.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -39,6 +41,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00150678" Unit="deg" />
+            <PositionLimitsSoft Lower="-15.0" Upper="42.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -54,6 +57,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00854701" Unit="deg" />
+            <PositionLimitsSoft Lower="-240.0" Upper="120.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -69,6 +73,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.16963209" Unit="deg" />
+            <PositionLimitsSoft Lower="-95.0" Upper="185.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -84,6 +89,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.16963209" Unit="deg" />
+            <PositionLimitsSoft Lower="-45.0" Upper="45.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -99,6 +105,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.33926417" Unit="deg" />
+            <PositionLimitsSoft Lower="-475.0" Upper="445.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />

diff --git a/jhu-daVinci/sawRobotIO1394-MTML-gripper-34863.xml b/jhu-daVinci/sawRobotIO1394-MTML-gripper-34863.xml
@@ -9,6 +9,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="360.00000000" Unit="deg" />
+            <PositionLimitsSoft Lower="0.0" Upper="0.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />

diff --git a/jhu-daVinci/sawRobotIO1394-MTMR-32336.xml b/jhu-daVinci/sawRobotIO1394-MTMR-32336.xml
@@ -9,6 +9,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00141933" Unit="deg" />
+            <PositionLimitsSoft Lower="-65.0" Upper="40.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -24,6 +25,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00180433" Unit="deg" />
+            <PositionLimitsSoft Lower="-18.0" Upper="65.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -39,6 +41,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00150678" Unit="deg" />
+            <PositionLimitsSoft Lower="-15.0" Upper="42.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -53,7 +56,8 @@
             <MaxCurrent Unit="A" Value="0.670" />
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
-            <BitsToPosSI Scale="0.00854701" Unit="deg" />
+           <BitsToPosSI Scale="0.00854701" Unit="deg" />
+           <PositionLimitsSoft Lower="-120.0" Upper="240.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -69,6 +73,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.16963209" Unit="deg" />
+            <PositionLimitsSoft Lower="-95.0" Upper="185.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -84,6 +89,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.16963209" Unit="deg" />
+            <PositionLimitsSoft Lower="-45.0" Upper="45.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />
@@ -99,6 +105,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.33926417" Unit="deg" />
+            <PositionLimitsSoft Lower="-475.0" Upper="445.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05" />

diff --git a/jhu-daVinci/sawRobotIO1394-MTMR-gripper-32336.xml b/jhu-daVinci/sawRobotIO1394-MTMR-gripper-32336.xml
@@ -10,6 +10,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="360.00000000" Unit="deg"/>
+            <PositionLimitsSoft Lower="0.0" Upper="0.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05"/>

diff --git a/jhu-daVinci/sawRobotIO1394-PSM1-49695.xml b/jhu-daVinci/sawRobotIO1394-PSM1-49695.xml
@@ -10,6 +10,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00044248" Unit="deg"/>
+            <PositionLimitsSoft Lower="-91.0" Upper="91.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05"/>
@@ -25,6 +26,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00044248" Unit="deg"/>
+            <PositionLimitsSoft Lower="-53.0" Upper="53.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05"/>
@@ -40,6 +42,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00129629" Unit="mm"/>
+            <PositionLimitsSoft Lower="0.0" Upper="240.0" Unit="mm" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05"/>
@@ -55,6 +58,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00768574" Unit="deg"/>
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05"/>
@@ -70,6 +74,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00768574" Unit="deg"/>
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05"/>
@@ -85,6 +90,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00768574" Unit="deg"/>
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05"/>
@@ -100,6 +106,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00768574" Unit="deg"/>
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86646e-05"/>

diff --git a/jhu-daVinci/sawRobotIO1394-PSM2-32204.xml b/jhu-daVinci/sawRobotIO1394-PSM2-32204.xml
@@ -10,6 +10,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00044248" Unit="deg" />
+            <PositionLimitsSoft Lower="-91.0" Upper="91.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86656e-05" />
@@ -25,6 +26,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00044248" Unit="deg" />
+            <PositionLimitsSoft Lower="-53.0" Upper="53.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86656e-05" />
@@ -40,6 +42,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00129629" Unit="mm" />
+            <PositionLimitsSoft Lower="0.0" Upper="240.0" Unit="mm" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86656e-05" />
@@ -55,6 +58,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="-0.00768574" Unit="deg" />
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86656e-05" />
@@ -70,6 +74,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Offset="0" Scale="-0.00768574" Unit="deg" />
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86656e-05" />
@@ -85,6 +90,7 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00768574" Unit="deg" />
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86656e-05" />
@@ -100,20 +106,21 @@
          </Drive>
          <Encoder VelocitySource="FIRMWARE">
             <BitsToPosSI Scale="0.00768574" Unit="deg" />
+            <PositionLimitsSoft Lower="-174.0" Upper="174.0" Unit="deg" />
          </Encoder>
          <AnalogIn>
             <BitsToVolts Offset="0" Scale="6.86656e-05" />
             <VoltsToPosSI Offset="177.626962638" Scale="-78.940917432" Unit="deg" />
          </AnalogIn>
       </Actuator>
       <Potentiometers Position="Actuators">
-	<Tolerance Axis="0" Distance="5.0" Latency="0.01" Unit="deg" />
-	<Tolerance Axis="1" Distance="5.0" Latency="0.01" Unit="deg" />
-	<Tolerance Axis="2" Distance="5.0" Latency="0.01" Unit="mm" />
-	<Tolerance Axis="3" Distance="25.0" Latency="0.05" Unit="deg" />
-	<Tolerance Axis="4" Distance="25.0" Latency="0.05" Unit="deg" />
-	<Tolerance Axis="5" Distance="25.0" Latency="0.05" Unit="deg" />
-	<Tolerance Axis="6" Distance="25.0" Latency="0.05" Unit="deg" />
+        <Tolerance Axis="0" Distance="5.0" Latency="0.01" Unit="deg" />
+        <Tolerance Axis="1" Distance="5.0" Latency="0.01" Unit="deg" />
+        <Tolerance Axis="2" Distance="5.0" Latency="0.01" Unit="mm" />
+        <Tolerance Axis="3" Distance="25.0" Latency="0.05" Unit="deg" />
+        <Tolerance Axis="4" Distance="25.0" Latency="0.05" Unit="deg" />
+        <Tolerance Axis="5" Distance="25.0" Latency="0.05" Unit="deg" />
+        <Tolerance Axis="6" Distance="25.0" Latency="0.05" Unit="deg" />
       </Potentiometers>
    </Robot>
    <DigitalIn BitID="0" BoardID="8" Debounce="0.2" Name="PSM2-SUJClutch" Pressed="1" Trigger="all"/>