Skip to content

Generically expose URDF joint dynamics. #56

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 16 commits into
base: rolling
Choose a base branch
from
Open

Generically expose URDF joint dynamics. #56

Show file tree
Hide file tree
Changes from 8 commits
Commits
Show all changes
16 commits
Select commit Hold shift + click to select a range
38dc50c
Set joint dyn properties, optionally from file
Apr 1, 2023
c894553
Pass joint dynamics as default-empty dict()
Apr 1, 2023
e974b80
Revert test dynamics specification
Apr 1, 2023
5a2b728
Mimic initial_positions with dynamics defaults
Apr 6, 2023
324b390
Default joints to zero, retain differentiated example
Apr 7, 2023
b4b1a22
Simplify file names
Apr 7, 2023
f32ac9c
Merge branch 'UniversalRobots:ros2' into dz/expose-joint-dyn-prop-file
danzimmerman Apr 16, 2023
c042607
Merge branch 'ros2' into dz/expose-joint-dyn-prop-file
danzimmerman Apr 17, 2023
642c18e
Update ros2_control Merge branch 'ros2' of https://github.com/Univers…
May 6, 2023
05eed59
Merge branch 'dz/expose-joint-dyn-prop-file' of https://github.com/da…
May 6, 2023
7d448ea
Merge branch 'UniversalRobots:ros2' into dz/expose-joint-dyn-prop-file
danzimmerman Jun 2, 2023
1ef346a
Disable galactic build and deschedule others
Jul 26, 2023
e4b403e
Merge branch 'UniversalRobots:rolling' into dz/expose-joint-dyn-prop-…
danzimmerman Jul 26, 2023
6d84858
Merge branch 'rolling' into dz/expose-joint-dyn-prop-file
Sep 5, 2024
6e7c524
Fix default joint_dynamics dict when none provided
Sep 5, 2024
c8184ac
Merge branch 'rolling' into dz/expose-joint-dyn-prop-file
Sep 5, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 20 additions & 0 deletions config/joint_dynamics.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
joint_dynamics:
shoulder_pan_joint:
damping: 0.0
friction: 0.0
shoulder_lift_joint:
damping: 0.0
friction: 0.0
elbow_joint:
damping: 0.0
friction: 0.0
wrist_1_joint:
damping: 0.0
friction: 0.0
wrist_2_joint:
damping: 0.0
friction: 0.0
wrist_3_joint:
damping: 0.0
friction: 0.0

20 changes: 20 additions & 0 deletions test/test_joint_dynamics.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
joint_dynamics:
shoulder_pan_joint:
damping: 0.123
friction: 1.234
shoulder_lift_joint:
damping: 0.234
friction: 2.345
elbow_joint:
damping: 0.345
friction: 3.456
wrist_1_joint:
damping: 0.456
friction: 4.567
wrist_2_joint:
damping: 0.567
friction: 5.678
wrist_3_joint:
damping: 0.678
friction: 6.789

19 changes: 18 additions & 1 deletion urdf/inc/ur_common.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,14 +41,15 @@
<mesh filename="${mesh}"/>
</xacro:macro>

<xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file force_abs_paths">
<xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file joint_dynamics force_abs_paths">
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I think I would prefer passing the filename down to here as we do with the other parameters, as well.

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Actually, I am not sure. It would be nicer to keep it on one level, however this way it is backwards compatible.


<xacro:property name="force_abs_paths" value="${force_abs_paths}" scope="parent"/>
<!-- Read .yaml files from disk, load content into properties -->
<xacro:property name="config_joint_limit_parameters" value="${xacro.load_yaml(joint_limits_parameters_file)}"/>
<xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
<xacro:property name="config_physical_parameters" value="${xacro.load_yaml(physical_parameters_file)}"/>
<xacro:property name="config_visual_parameters" value="${xacro.load_yaml(visual_parameters_file)}"/>
<xacro:property name="config_joint_dynamics" value="${joint_dynamics}" scope="parent"/>

<!-- Extract subsections from yaml dictionaries -->
<xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/>
Expand All @@ -57,6 +58,7 @@
<xacro:property name="sec_inertia_parameters" value="${config_physical_parameters['inertia_parameters']}" />
<xacro:property name="sec_mesh_files" value="${config_visual_parameters['mesh_files']}" scope="parent"/>
<xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
<xacro:property name="sec_joint_dynamics" value="${config_joint_dynamics['joint_dynamics']}" scope="parent"/>

<!-- JOINTS LIMIT PARAMETERS -->
<xacro:property name="shoulder_pan_lower_limit" value="${sec_limits['shoulder_pan_joint']['min_position']}" scope="parent"/>
Expand Down Expand Up @@ -84,6 +86,21 @@
<xacro:property name="wrist_3_velocity_limit" value="${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"/>


<!-- JOINT DYNAMICS PARAMETERS -->
<xacro:property name="shoulder_pan_damping" value="${sec_joint_dynamics['shoulder_pan_joint']['damping']}" scope="parent"/>
<xacro:property name="shoulder_pan_friction" value="${sec_joint_dynamics['shoulder_pan_joint']['friction']}" scope="parent"/>
<xacro:property name="shoulder_lift_damping" value="${sec_joint_dynamics['shoulder_lift_joint']['damping']}" scope="parent"/>
<xacro:property name="shoulder_lift_friction" value="${sec_joint_dynamics['shoulder_lift_joint']['friction']}" scope="parent"/>
<xacro:property name="elbow_joint_damping" value="${sec_joint_dynamics['elbow_joint']['damping']}" scope="parent"/>
<xacro:property name="elbow_joint_friction" value="${sec_joint_dynamics['elbow_joint']['friction']}" scope="parent"/>
<xacro:property name="wrist_1_damping" value="${sec_joint_dynamics['wrist_1_joint']['damping']}" scope="parent"/>
<xacro:property name="wrist_1_friction" value="${sec_joint_dynamics['wrist_1_joint']['friction']}" scope="parent"/>
<xacro:property name="wrist_2_damping" value="${sec_joint_dynamics['wrist_2_joint']['damping']}" scope="parent"/>
<xacro:property name="wrist_2_friction" value="${sec_joint_dynamics['wrist_2_joint']['friction']}" scope="parent"/>
<xacro:property name="wrist_3_damping" value="${sec_joint_dynamics['wrist_3_joint']['damping']}" scope="parent"/>
<xacro:property name="wrist_3_friction" value="${sec_joint_dynamics['wrist_3_joint']['friction']}" scope="parent"/>

<!-- DH PARAMETERS -->
<xacro:property name="d1" value="${sec_dh_parameters['d1']}" scope="parent"/>
<xacro:property name="a2" value="${sec_dh_parameters['a2']}" scope="parent"/>
Expand Down
6 changes: 5 additions & 1 deletion urdf/ur.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,10 +47,12 @@

<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
<xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
<!-- Default joint dynamics has friction and damping equal to 0, but useful to specialize for simulations -->
<xacro:arg name="joint_dynamics_file" default="$(find ur_description)/config/joint_dynamics.yaml"/>

<!-- convert to property to use substitution in function -->
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

<xacro:property name="joint_dynamics_file" default="$(arg joint_dynamics_file)"/>
<!-- create link fixed to the "world" -->
<link name="world" />

Expand All @@ -73,6 +75,7 @@
sim_ignition="$(arg sim_ignition)"
headless_mode="$(arg headless_mode)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
joint_dynamics="${xacro.load_yaml(joint_dynamics_file)}"
use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)"
tool_parity="$(arg tool_parity)"
Expand All @@ -92,6 +95,7 @@
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
</xacro:ur_robot>


<xacro:if value="$(arg sim_gazebo)">
<!-- Gazebo plugins -->
<gazebo reference="world">
Expand Down
14 changes: 8 additions & 6 deletions urdf/ur_macro.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,7 @@
sim_ignition:=false
headless_mode:=false
initial_positions:=${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)}
joint_dynamics:=${dict(shoulder_pan_joint=dict(damping=0.0, friction=0.0), shoulder_lift_joint=dict(damping=0.0, friction=0.0), elbow_joint=dict(damping=0.0, friction=0.0), wrist_1_joint=dict(damping=0.0, friction=0.0), wrist_2_joint=dict(damping=0.0, friction=0.0), wrist_3_joint=dict(damping=0.0, friction=0.0))}
use_tool_communication:=false
tool_voltage:=0
tool_parity:=0
Expand Down Expand Up @@ -101,6 +102,7 @@
kinematics_parameters_file="${kinematics_parameters_file}"
physical_parameters_file="${physical_parameters_file}"
visual_parameters_file="${visual_parameters_file}"
joint_dynamics="${joint_dynamics}"
force_abs_paths="${sim_gazebo or sim_ignition}"/>


Expand Down Expand Up @@ -296,7 +298,7 @@
<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="${shoulder_pan_damping}" friction="${shoulder_pan_friction}"/>
</joint>
<joint name="${tf_prefix}shoulder_lift_joint" type="revolute">
<parent link="${tf_prefix}shoulder_link" />
Expand All @@ -308,7 +310,7 @@
<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="${shoulder_lift_damping}" friction="${shoulder_lift_friction}"/>
</joint>
<joint name="${tf_prefix}elbow_joint" type="revolute">
<parent link="${tf_prefix}upper_arm_link" />
Expand All @@ -320,7 +322,7 @@
<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="${elbow_joint_damping}" friction="${elbow_joint_friction}"/>
</joint>
<joint name="${tf_prefix}wrist_1_joint" type="revolute">
<parent link="${tf_prefix}forearm_link" />
Expand All @@ -332,7 +334,7 @@
<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="${wrist_1_damping}" friction="${wrist_1_friction}"/>
</joint>
<joint name="${tf_prefix}wrist_2_joint" type="revolute">
<parent link="${tf_prefix}wrist_1_link" />
Expand All @@ -344,7 +346,7 @@
<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="${wrist_2_damping}" friction="${wrist_2_friction}"/>
</joint>
<joint name="${tf_prefix}wrist_3_joint" type="revolute">
<parent link="${tf_prefix}wrist_2_link" />
Expand All @@ -356,7 +358,7 @@
<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="${wrist_3_damping}" friction="${wrist_3_friction}"/>
</joint>

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