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Fix overlapping variable names between robot definition files #356

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merged 2 commits into from
Jul 29, 2018
Merged

Fix overlapping variable names between robot definition files #356

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8c84b48
Fix overlapping properties between robot definitions
felixvd Jun 21, 2018
2847afa
Move robot-specific parameters inside macro
felixvd Jun 26, 2018
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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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Open in desktop
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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