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Introduce Simulation PIDs parameters #54

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Introduce Simulation PIDs parameters #54

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070d512
Add pids for simulation.
livanov93 Mar 2, 2023
1289ef1
Add dynamics per joint. Change pid params.
livanov93 Mar 3, 2023
03a9cf6
Update pid params for sim.
livanov93 Mar 8, 2023
6a3d062
Adapt pids for simulation.
livanov93 Mar 20, 2023
3a86213
Add parameter for absolute mesh paths.
livanov93 Mar 21, 2023
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66 changes: 66 additions & 0 deletions urdf/ur.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,17 @@
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<xacro:if value="${sim_ignition}">
<!-- initial PID values for the IgnitionSystem and simulation -->
<param name="p_vel">4000.0</param>
<param name="i_vel">250.0</param>
<param name="d_vel">1.0</param>
<param name="iMax_vel">15.0</param>
<param name="iMin_vel">-15.0</param>
<param name="cmdMax_vel">150.0</param>
<param name="cmdMin_vel">-150.0</param>
<param name="cmdOffset_vel">0.0</param>
</xacro:if>
</joint>
<joint name="${prefix}shoulder_lift_joint">
<command_interface name="position">
Expand All @@ -91,6 +102,17 @@
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<xacro:if value="${sim_ignition}">
<!-- initial PID values for the IgnitionSystem and simulation -->
<param name="p_vel">100000.0</param>
<param name="i_vel">1600.0</param>
<param name="d_vel">2.5</param>
<param name="iMax_vel">45.0</param>
<param name="iMin_vel">-45.0</param>
<param name="cmdMax_vel">150.0</param>
<param name="cmdMin_vel">-150.0</param>
<param name="cmdOffset_vel">0.0</param>
</xacro:if>
</joint>
<joint name="${prefix}elbow_joint">
<command_interface name="position">
Expand All @@ -107,6 +129,17 @@
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<xacro:if value="${sim_ignition}">
<!-- initial PID values for the IgnitionSystem and simulation -->
<param name="p_vel">10000.0</param>
<param name="i_vel">450.0</param>
<param name="d_vel">2.0</param>
<param name="iMax_vel">30.0</param>
<param name="iMin_vel">-30.0</param>
<param name="cmdMax_vel">150.0</param>
<param name="cmdMin_vel">-150.0</param>
<param name="cmdOffset_vel">0.0</param>
</xacro:if>
</joint>
<joint name="${prefix}wrist_1_joint">
<command_interface name="position">
Expand All @@ -123,6 +156,17 @@
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<xacro:if value="${sim_ignition}">
<!-- initial PID values for the IgnitionSystem and simulation -->
<param name="p_vel">3000.0</param>
<param name="i_vel">175.0</param>
<param name="d_vel">0.5</param>
<param name="iMax_vel">7.0</param>
<param name="iMin_vel">-7.0</param>
<param name="cmdMax_vel">28.0</param>
<param name="cmdMin_vel">-28.0</param>
<param name="cmdOffset_vel">0.0</param>
</xacro:if>
</joint>
<joint name="${prefix}wrist_2_joint">
<command_interface name="position">
Expand All @@ -139,6 +183,17 @@
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<xacro:if value="${sim_ignition}">
<!-- initial PID values for the IgnitionSystem and simulation -->
<param name="p_vel">2500.0</param>
<param name="i_vel">150.0</param>
<param name="d_vel">0.3</param>
<param name="iMax_vel">6.0</param>
<param name="iMin_vel">-6.0</param>
<param name="cmdMax_vel">28.0</param>
<param name="cmdMin_vel">-28.0</param>
<param name="cmdOffset_vel">0.0</param>
</xacro:if>
</joint>
<joint name="${prefix}wrist_3_joint">
<command_interface name="position">
Expand All @@ -155,6 +210,17 @@
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<xacro:if value="${sim_ignition}">
<!-- initial PID values for the IgnitionSystem and simulation -->
<param name="p_vel">2000.0</param>
<param name="i_vel">10.0</param>
<param name="d_vel">0.2</param>
<param name="iMax_vel">5.0</param>
<param name="iMin_vel">-5.0</param>
<param name="cmdMax_vel">28.0</param>
<param name="cmdMin_vel">-28.0</param>
<param name="cmdOffset_vel">0.0</param>
</xacro:if>
</joint>

<xacro:unless value="${sim_gazebo or sim_ignition}">
Expand Down
15 changes: 8 additions & 7 deletions urdf/ur_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@
fake_sensor_commands:=false
sim_gazebo:=false
sim_ignition:=false
force_abs_paths:=false
headless_mode:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
Expand All @@ -96,7 +97,7 @@
kinematics_parameters_file="${kinematics_parameters_file}"
physical_parameters_file="${physical_parameters_file}"
visual_parameters_file="${visual_parameters_file}"
force_abs_paths="${sim_gazebo or sim_ignition}"/>
force_abs_paths="${force_abs_paths}"/>


<!-- ros2 control include -->
Expand Down Expand Up @@ -288,7 +289,7 @@
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
<dynamics damping="21.75" friction="3.48"/>
</joint>
<joint name="${prefix}shoulder_lift_joint" type="revolute">
<parent link="${prefix}shoulder_link" />
Expand All @@ -300,7 +301,7 @@
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
<dynamics damping="21.75" friction="3.48"/>
</joint>
<joint name="${prefix}elbow_joint" type="revolute">
<parent link="${prefix}upper_arm_link" />
Expand All @@ -312,7 +313,7 @@
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
<dynamics damping="21.75" friction="3.48"/>
</joint>
<joint name="${prefix}wrist_1_joint" type="revolute">
<parent link="${prefix}forearm_link" />
Expand All @@ -324,7 +325,7 @@
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
<dynamics damping="3.0" friction="0.48"/>
</joint>
<joint name="${prefix}wrist_2_joint" type="revolute">
<parent link="${prefix}wrist_1_link" />
Expand All @@ -336,7 +337,7 @@
<xacro:if value="${safety_limits}">
<safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
</xacro:if>
<dynamics damping="0" friction="0"/>
<dynamics damping="3.0" friction="0.48"/>
</joint>
<joint name="${prefix}wrist_3_joint" type="revolute">
<parent link="${prefix}wrist_2_link" />
Expand All @@ -348,7 +349,7 @@
<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>
<dynamics damping="0" friction="0"/>
<dynamics damping="3.0" friction="0.48"/>
</joint>

<link name="${prefix}ft_frame"/>
Expand Down