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Fix overlapping variable names between robot definition files (#356)
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* Fix overlapping properties between robot definitions

   Uploading a different UR definition used to break the previous definition files by overwriting their link lengths. This commit makes the property names for each robot unique so they are independent of the other robot models.

* Move robot-specific parameters inside macro

   This is the cleaner solution for what the previous commit was meant to solve
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@felixvd @gavanderhoorn
felixvd authored and gavanderhoorn committed Jul 29, 2018
1 parent f15aa40 commit ff58d33
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Showing 3 changed files with 153 additions and 155 deletions.
91 changes: 45 additions & 46 deletions ur_description/urdf/ur10.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -9,47 +9,6 @@
<xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />

<!-- Inertia parameters -->
<xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
<xacro:property name="shoulder_mass" value="7.778" />
<xacro:property name="upper_arm_mass" value="12.93" />
<xacro:property name="forearm_mass" value="3.87" />
<xacro:property name="wrist_1_mass" value="1.96" />
<xacro:property name="wrist_2_mass" value="1.96" />
<xacro:property name="wrist_3_mass" value="0.202" />

<!-- These parameters are borrowed from the urcontrol.conf file
but are not verified for the correct permutation.
The permutation was guessed by looking at the UR5 parameters.
Serious use of these parameters needs further inspection. -->
<xacro:property name="shoulder_cog" value="0.00008 0.00244 -0.037" />
<xacro:property name="upper_arm_cog" value="0.00001 0.15061 0.38757" />
<xacro:property name="forearm_cog" value="-0.00012 0.06112 0.1984" />
<xacro:property name="wrist_1_cog" value="-0.00021 -0.00112 0.02269" />
<xacro:property name="wrist_2_cog" value="-0.00021 0.00112 0.002269" />
<xacro:property name="wrist_3_cog" value="0 -0.001156 -0.00149" />

<!-- Kinematic model -->
<!-- Properties from urcontrol.conf -->
<xacro:property name="ur10_d1" value="0.1273" />
<xacro:property name="ur10_a2" value="-0.612" />
<xacro:property name="ur10_a3" value="-0.5723" />
<xacro:property name="ur10_d4" value="0.163941" />
<xacro:property name="ur10_d5" value="0.1157" />
<xacro:property name="ur10_d6" value="0.0922" />

<!-- Arbitrary offsets for shoulder/elbow joints -->
<xacro:property name="shoulder_offset" value="0.220941" /> <!-- measured from model -->
<xacro:property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->

<!-- link lengths used in model -->
<xacro:property name="shoulder_height" value="${ur10_d1}" />
<xacro:property name="upper_arm_length" value="${-ur10_a2}" />
<xacro:property name="forearm_length" value="${-ur10_a3}" />
<xacro:property name="wrist_1_length" value="${ur10_d4 - elbow_offset - shoulder_offset}" />
<xacro:property name="wrist_2_length" value="${ur10_d5}" />
<xacro:property name="wrist_3_length" value="${ur10_d6}" />

<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<inertial>
<mass value="${mass}" />
Expand All @@ -60,7 +19,6 @@
</inertial>
</xacro:macro>


<xacro:macro name="ur10_robot" params="prefix joint_limited
shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi}
shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi}
Expand All @@ -69,6 +27,47 @@
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}">

<!-- Inertia parameters -->
<xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
<xacro:property name="shoulder_mass" value="7.778" />
<xacro:property name="upper_arm_mass" value="12.93" />
<xacro:property name="forearm_mass" value="3.87" />
<xacro:property name="wrist_1_mass" value="1.96" />
<xacro:property name="wrist_2_mass" value="1.96" />
<xacro:property name="wrist_3_mass" value="0.202" />

<!-- These parameters are borrowed from the urcontrol.conf file
but are not verified for the correct permutation.
The permutation was guessed by looking at the UR5 parameters.
Serious use of these parameters needs further inspection. -->
<xacro:property name="shoulder_cog" value="0.00008 0.00244 -0.037" />
<xacro:property name="upper_arm_cog" value="0.00001 0.15061 0.38757" />
<xacro:property name="forearm_cog" value="-0.00012 0.06112 0.1984" />
<xacro:property name="wrist_1_cog" value="-0.00021 -0.00112 0.02269" />
<xacro:property name="wrist_2_cog" value="-0.00021 0.00112 0.002269" />
<xacro:property name="wrist_3_cog" value="0 -0.001156 -0.00149" />

<!-- Kinematic model -->
<!-- Properties from urcontrol.conf -->
<xacro:property name="d1" value="0.1273" />
<xacro:property name="a2" value="-0.612" />
<xacro:property name="a3" value="-0.5723" />
<xacro:property name="d4" value="0.163941" />
<xacro:property name="d5" value="0.1157" />
<xacro:property name="d6" value="0.0922" />

<!-- Arbitrary offsets for shoulder/elbow joints -->
<xacro:property name="shoulder_offset" value="0.220941" /> <!-- measured from model -->
<xacro:property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->

<!-- link lengths used in model -->
<xacro:property name="shoulder_height" value="${d1}" />
<xacro:property name="upper_arm_length" value="${-a2}" />
<xacro:property name="forearm_length" value="${-a3}" />
<xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" />
<xacro:property name="wrist_2_length" value="${d5}" />
<xacro:property name="wrist_3_length" value="${d6}" />

<link name="${prefix}base_link" >
<visual>
<geometry>
Expand Down Expand Up @@ -149,8 +148,8 @@
<mesh filename="package://ur_description/meshes/ur10/collision/upperarm.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="${-ur10_a2}" mass="${upper_arm_mass}">
<origin xyz="0.0 0.0 ${-ur10_a2/2.0}" rpy="0 0 0" />
<xacro:cylinder_inertial radius="0.075" length="${-a2}" mass="${upper_arm_mass}">
<origin xyz="0.0 0.0 ${-a2/2.0}" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>

Expand Down Expand Up @@ -182,8 +181,8 @@
<mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="${-ur10_a3}" mass="${forearm_mass}">
<origin xyz="0.0 0.0 ${-ur10_a3/2.0}" rpy="0 0 0" />
<xacro:cylinder_inertial radius="0.075" length="${-a3}" mass="${forearm_mass}">
<origin xyz="0.0 0.0 ${-a3/2.0}" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>

Expand Down
93 changes: 46 additions & 47 deletions ur_description/urdf/ur3.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -8,48 +8,7 @@
<xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />

<!-- Inertia parameters -->
<xacro:property name="base_mass" value="2.0" /> <!-- This mass might be incorrect -->
<xacro:property name="shoulder_mass" value="2.0" />
<xacro:property name="upper_arm_mass" value="3.42" />
<xacro:property name="forearm_mass" value="1.26" />
<xacro:property name="wrist_1_mass" value="0.8" />
<xacro:property name="wrist_2_mass" value="0.8" />
<xacro:property name="wrist_3_mass" value="0.35" />

<!-- These parameters are borrowed from the urcontrol.conf file
but are not verified for the correct permutation.
The permutation was guessed by looking at the UR5 parameters.
Serious use of these parameters needs further inspection. -->
<xacro:property name="shoulder_cog" value="0.0 -0.02 0.0" />
<xacro:property name="upper_arm_cog" value="0.13 0.0 0.1157" />
<xacro:property name="forearm_cog" value="0.05 0.0 0.0238" />
<xacro:property name="wrist_1_cog" value="0.0 0.0 0.01" />
<xacro:property name="wrist_2_cog" value="0.0 0.0 0.01" />
<xacro:property name="wrist_3_cog" value="0.0 0.0 -0.02" />

<!-- Kinematic model -->
<!-- Properties from urcontrol.conf -->
<xacro:property name="ur3_d1" value="0.1519" />
<xacro:property name="ur3_a2" value="-0.24365" />
<xacro:property name="ur3_a3" value="-0.21325" />
<xacro:property name="ur3_d4" value="0.11235" />
<xacro:property name="ur3_d5" value="0.08535" />
<xacro:property name="ur3_d6" value="0.0819" />

<!-- Arbitrary offsets for shoulder/elbow joints -->
<xacro:property name="shoulder_offset" value="0.1198" /> <!-- measured from model -->
<xacro:property name="elbow_offset" value="-0.0925" /> <!-- measured from model -->

<!-- link lengths used in model -->
<xacro:property name="shoulder_height" value="${ur3_d1}" />
<xacro:property name="upper_arm_length" value="${-ur3_a2}" />
<xacro:property name="forearm_length" value="${-ur3_a3}" />
<xacro:property name="wrist_1_length" value="${ur3_d4 - elbow_offset - shoulder_offset}" />
<xacro:property name="wrist_2_length" value="${ur3_d5}" />
<xacro:property name="wrist_3_length" value="${ur3_d6}" />

<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<inertial>
<mass value="${mass}" />
<xacro:insert_block name="origin" />
Expand All @@ -59,7 +18,6 @@
</inertial>
</xacro:macro>


<xacro:macro name="ur3_robot" params="prefix joint_limited
shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi}
shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi}
Expand All @@ -68,6 +26,47 @@
wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}">

<!-- Inertia parameters -->
<xacro:property name="base_mass" value="2.0" /> <!-- This mass might be incorrect -->
<xacro:property name="shoulder_mass" value="2.0" />
<xacro:property name="upper_arm_mass" value="3.42" />
<xacro:property name="forearm_mass" value="1.26" />
<xacro:property name="wrist_1_mass" value="0.8" />
<xacro:property name="wrist_2_mass" value="0.8" />
<xacro:property name="wrist_3_mass" value="0.35" />

<!-- These parameters are borrowed from the urcontrol.conf file
but are not verified for the correct permutation.
The permutation was guessed by looking at the UR5 parameters.
Serious use of these parameters needs further inspection. -->
<xacro:property name="shoulder_cog" value="0.0 -0.02 0.0" />
<xacro:property name="upper_arm_cog" value="0.13 0.0 0.1157" />
<xacro:property name="forearm_cog" value="0.05 0.0 0.0238" />
<xacro:property name="wrist_1_cog" value="0.0 0.0 0.01" />
<xacro:property name="wrist_2_cog" value="0.0 0.0 0.01" />
<xacro:property name="wrist_3_cog" value="0.0 0.0 -0.02" />

<!-- Kinematic model -->
<!-- Properties from urcontrol.conf -->
<xacro:property name="d1" value="0.1519" />
<xacro:property name="a2" value="-0.24365" />
<xacro:property name="a3" value="-0.21325" />
<xacro:property name="d4" value="0.11235" />
<xacro:property name="d5" value="0.08535" />
<xacro:property name="d6" value="0.0819" />

<!-- Arbitrary offsets for shoulder/elbow joints -->
<xacro:property name="shoulder_offset" value="0.1198" /> <!-- measured from model -->
<xacro:property name="elbow_offset" value="-0.0925" /> <!-- measured from model -->

<!-- link lengths used in model -->
<xacro:property name="shoulder_height" value="${d1}" />
<xacro:property name="upper_arm_length" value="${-a2}" />
<xacro:property name="forearm_length" value="${-a3}" />
<xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" />
<xacro:property name="wrist_2_length" value="${d5}" />
<xacro:property name="wrist_3_length" value="${d6}" />

<link name="${prefix}base_link" >
<visual>
<geometry>
Expand Down Expand Up @@ -148,8 +147,8 @@
<mesh filename="package://ur_description/meshes/ur3/collision/upperarm.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="${-ur3_a2}" mass="${upper_arm_mass}">
<origin xyz="0.0 0.0 ${-ur3_a2/2.0}" rpy="0 0 0" />
<xacro:cylinder_inertial radius="0.075" length="${-a2}" mass="${upper_arm_mass}">
<origin xyz="0.0 0.0 ${-a2/2.0}" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>

Expand Down Expand Up @@ -181,8 +180,8 @@
<mesh filename="package://ur_description/meshes/ur3/collision/forearm.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="${-ur3_a3}" mass="${forearm_mass}">
<origin xyz="0.0 0.0 ${-ur3_a3/2.0}" rpy="0 0 0" />
<xacro:cylinder_inertial radius="0.075" length="${-a3}" mass="${forearm_mass}">
<origin xyz="0.0 0.0 ${-a3/2.0}" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>

Expand Down
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