Revert joint dynamics changes

Author: Dan Zimmerman

config/ur10/joint_dynamics_parameters.yaml

@@ -41,15 +41,14 @@
     <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 joint_dynamics_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 force_abs_paths">
 
     <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="${xacro.load_yaml(visual_parameters_file)}"/>
-    <xacro:property name="config_joint_dynamics" value="${xacro.load_yaml(joint_dynamics_parameters_file)}"/>
 
     <!-- Extract subsections from yaml dictionaries -->
     <xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/>
@@ -58,7 +57,6 @@
     <xacro:property name="sec_inertia_parameters" value="${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']}" />
 
     <!-- JOINTS LIMIT PARAMETERS -->
     <xacro:property name="shoulder_pan_lower_limit" value="${sec_limits['shoulder_pan_joint']['min_position']}" scope="parent"/>
@@ -86,20 +84,6 @@
     <xacro:property name="wrist_3_velocity_limit" value="${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"/>

config/ur10e/joint_dynamics_parameters.yaml

@@ -19,7 +19,7 @@
    <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
    <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
    <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
-   <xacro:arg name="joint_dynamics_params" default="$(find ur_description)/config/$(arg ur_type)/joint_dynamics_parameters.yaml"/>
+
    <xacro:arg name="transmission_hw_interface" default=""/>
    <xacro:arg name="safety_limits" default="false"/>
    <xacro:arg name="safety_pos_margin" default="0.15"/>
@@ -71,7 +71,6 @@
      kinematics_parameters_file="$(arg kinematics_params)"
      physical_parameters_file="$(arg physical_params)"
      visual_parameters_file="$(arg visual_params)"
-     joint_dynamics_parameters_file="$(arg joint_dynamics_params)"
      force_abs_paths="${sim_gazebo or sim_ignition}"/>
 
    <!-- arm instance -->

config/ur16e/joint_dynamics_parameters.yaml

@@ -218,7 +218,7 @@
       <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="${shoulder_pan_damping}" friction="${shoulder_pan_friction}"/>
+      <dynamics damping="0" friction="0"/>
     </joint>
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${prefix}shoulder_link" />
@@ -230,7 +230,7 @@
       <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="${shoulder_lift_damping}" friction="${shoulder_lift_friction}"/>
+      <dynamics damping="0" friction="0"/>
     </joint>
     <joint name="${prefix}elbow_joint" type="revolute">
       <parent link="${prefix}upper_arm_link" />
@@ -242,7 +242,7 @@
       <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="${elbow_joint_damping}" friction="${elbow_joint_friction}"/>
+      <dynamics damping="0" friction="0"/>
     </joint>
     <joint name="${prefix}wrist_1_joint" type="revolute">
       <parent link="${prefix}forearm_link" />
@@ -254,7 +254,7 @@
       <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="${wrist_1_damping}" friction="${wrist_1_friction}"/>
+      <dynamics damping="0" friction="0"/>
     </joint>
     <joint name="${prefix}wrist_2_joint" type="revolute">
       <parent link="${prefix}wrist_1_link" />
@@ -266,7 +266,7 @@
       <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="${wrist_2_damping}" friction="${wrist_2_friction}"/>
+      <dynamics damping="0" friction="0"/>
     </joint>
     <joint name="${prefix}wrist_3_joint" type="revolute">
       <parent link="${prefix}wrist_2_link" />
@@ -278,7 +278,7 @@
       <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="${wrist_3_damping}" friction="${wrist_3_friction}"/>
+      <dynamics damping="0" friction="0"/>
     </joint>
 
     <link name="${prefix}ft_frame"/>