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Make Panda robot Gazebo compatible #126

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Make Panda robot Gazebo compatible #126

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a5a7ab6
Panda in Gazebo + MoveIt! motion planning
erdalpekel Mar 3, 2019
941e3b5
Fix Gazebo simulation for panda_arm (without the gripper/hand)
marcoesposito1988 May 8, 2019
6d84c12
Fixed gripper not moving in simulation
erdalpekel Jun 16, 2019
d6934b1
Migrate to Position based control in Gazebo.
erdalpekel Feb 29, 2020
b034f5e
Update and improve usage
tahsinkose Jun 6, 2020
73ca815
Create macro for joints and links.
tahsinkose Jun 6, 2020
d2b802d
Add changes conforming to Gazebo tutorial.
tahsinkose Jan 23, 2021
2cf12ef
Revert "deletese collision meshes."
tahsinkose Jan 23, 2021
38ac3f7
Full split between hand and arm xacro files.
tahsinkose Jan 23, 2021
292ffac
Parameterize collisions for whether to use cylinder or mesh model.
tahsinkose Jan 23, 2021
a8037c8
If-guard Gazebo-specific stuff for to reduce parameter footprint in r…
tahsinkose Jan 23, 2021
8e2a5bb
Rename material macro.
tahsinkose Jan 23, 2021
fe8eff2
Prepend virtual joint with {arm_id}.
tahsinkose Mar 11, 2021
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40 changes: 40 additions & 0 deletions franka_control/config/panda_gazebo_control.yaml
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joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50

position_joint_trajectory_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7

gains:
panda_joint1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 18000, d: 70, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 12000, d: 70, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 7000, d: 50, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 2000, d: 20, i: 0.0, i_clamp: 1 }

constraints:
goal_time: 2.0

state_publish_rate: 25

franka_gripper:
type: effort_controllers/JointTrajectoryController
joints:
- panda_finger_joint1
- panda_finger_joint2

gains:
panda_finger_joint1: { p: 5, d: 3.0, i: 0, i_clamp: 1 }
panda_finger_joint2: { p: 5, d: 1.0, i: 0, i_clamp: 1 }

state_publish_rate: 25
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16 changes: 15 additions & 1 deletion franka_description/robots/hand.urdf.xacro
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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<xacro:arg name="use_cylinder_collision_model" default="true"/>
<xacro:arg name="use_gazebo_sim" default="false"/>

<xacro:include filename="hand.xacro"/>
<xacro:hand ns="panda" safety_distance="0.03"/>

<xacro:if value="$(arg use_gazebo_sim)">
<xacro:include filename="$(find franka_description)/robots/panda.gazebo.xacro"/>
<xacro:include filename="$(find franka_description)/robots/panda.control.xacro"/>
</xacro:if>
<xacro:hand ns="panda" rpy="0 0 ${-pi/4}" connected_to="panda_link8" safety_distance="0.03"
use_cylinder_collision_model="$(arg use_cylinder_collision_model)"/>

<xacro:if value="$(arg use_gazebo_sim)">
<xacro:hand_gazebo arm_id="$(arg arm_id)"/>
<xacro:hand_control arm_id="$(arg arm_id)"/>
</xacro:if>
</robot>
125 changes: 87 additions & 38 deletions franka_description/robots/hand.xacro
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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<xacro:arg name="use_gazebo_sim" default="false"/>
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' safety_distance:=0">
<xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' safety_distance:=0
use_cylinder_collision_model:='true'">
<xacro:unless value="${connected_to == ''}">
<joint name="${ns}_hand_joint" type="fixed">
<parent link="${connected_to}"/>
Expand All @@ -15,49 +17,79 @@
<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.04" rpy="0 ${pi/2} ${pi/2}"/>
<geometry>
<cylinder radius="${0.04+safety_distance}" length="0.1" />
</geometry>
</collision>
<collision>
<origin xyz="0 -0.05 0.04" rpy="0 0 0"/>
<geometry>
<sphere radius="${0.04+safety_distance}" />
</geometry>
</collision>
<collision>
<origin xyz="0 0.05 0.04" rpy="0 0 0"/>
<geometry>
<sphere radius="${0.04+safety_distance}" />
</geometry>
</collision>
<collision>
<origin xyz="0 0 0.1" rpy="0 ${pi/2} ${pi/2}"/>
<geometry>
<cylinder radius="${0.02+safety_distance}" length="0.1" />
</geometry>
</collision>
<collision>
<origin xyz="0 -0.05 0.1" rpy="0 0 0"/>
<geometry>
<sphere radius="${0.02+safety_distance}" />
</geometry>
</collision>
<collision>
<origin xyz="0 0.05 0.1" rpy="0 0 0"/>
<geometry>
<sphere radius="${0.02+safety_distance}" />
</geometry>
</collision>
<xacro:if value="${use_cylinder_collision_model}">
<collision>
<origin xyz="0 0 0.04" rpy="0 ${pi/2} ${pi/2}"/>
<geometry>
<cylinder radius="${0.04+safety_distance}" length="0.1" />
</geometry>
</collision>
<collision>
<origin xyz="0 -0.05 0.04" rpy="0 0 0"/>
<geometry>
<sphere radius="${0.04+safety_distance}" />
</geometry>
</collision>
<collision>
<origin xyz="0 0.05 0.04" rpy="0 0 0"/>
<geometry>
<sphere radius="${0.04+safety_distance}" />
</geometry>
</collision>
<collision>
<origin xyz="0 0 0.1" rpy="0 ${pi/2} ${pi/2}"/>
<geometry>
<cylinder radius="${0.02+safety_distance}" length="0.1" />
</geometry>
</collision>
<collision>
<origin xyz="0 -0.05 0.1" rpy="0 0 0"/>
<geometry>
<sphere radius="${0.02+safety_distance}" />
</geometry>
</collision>
<collision>
<origin xyz="0 0.05 0.1" rpy="0 0 0"/>
<geometry>
<sphere radius="${0.02+safety_distance}" />
</geometry>
</collision>
</xacro:if>
<xacro:unless value="${use_cylinder_collision_model}">
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/hand.stl"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="$(arg use_gazebo_sim)">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.68" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</xacro:if>
</link>
<link name="${ns}_leftfinger">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<xacro:unless value="${use_cylinder_collision_model}">
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.stl"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="$(arg use_gazebo_sim)">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</xacro:if>
</link>
<link name="${ns}_rightfinger">
<visual>
Expand All @@ -66,6 +98,21 @@
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<xacro:unless value="${use_cylinder_collision_model}">
<collision>
<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.stl"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="$(arg use_gazebo_sim)">
<inertial>
<origin xyz="0 0 0" rpy="0 0 ${pi}" />
<mass value="0.01" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
</xacro:if>
</link>
<joint name="${ns}_finger_joint1" type="prismatic">
<parent link="${ns}_hand"/>
Expand All @@ -80,7 +127,9 @@
<origin xyz="0 0 0.0584" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="${ns}_finger_joint1" />
<xacro:unless value="$(arg use_gazebo_sim)">
<mimic joint="${ns}_finger_joint1" />
</xacro:unless>
</joint>
</xacro:macro>
</robot>
28 changes: 28 additions & 0 deletions franka_description/robots/panda.control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="joint_control" params="transmission joint motor">
<transmission name="${transmission}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint}">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${motor}">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:macro name="arm_control" params="arm_id">
<xacro:joint_control transmission="${arm_id}_tran_1" joint="${arm_id}_joint1" motor="${arm_id}_motor_1"/>
<xacro:joint_control transmission="${arm_id}_tran_2" joint="${arm_id}_joint2" motor="${arm_id}_motor_2"/>
<xacro:joint_control transmission="${arm_id}_tran_3" joint="${arm_id}_joint3" motor="${arm_id}_motor_3"/>
<xacro:joint_control transmission="${arm_id}_tran_4" joint="${arm_id}_joint4" motor="${arm_id}_motor_4"/>
<xacro:joint_control transmission="${arm_id}_tran_5" joint="${arm_id}_joint5" motor="${arm_id}_motor_5"/>
<xacro:joint_control transmission="${arm_id}_tran_6" joint="${arm_id}_joint6" motor="${arm_id}_motor_6"/>
<xacro:joint_control transmission="${arm_id}_tran_7" joint="${arm_id}_joint7" motor="${arm_id}_motor_7"/>
</xacro:macro>
<xacro:macro name="hand_control" params="arm_id">
<xacro:joint_control transmission="${arm_id}_leftfinger" joint="${arm_id}_finger_joint1" motor="${arm_id}_finger_joint1"/>
<xacro:joint_control transmission="${arm_id}_rightfinger" joint="${arm_id}_finger_joint2" motor="${arm_id}_finger_joint2"/>
</xacro:macro>
</robot>
33 changes: 33 additions & 0 deletions franka_description/robots/panda.gazebo.xacro
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="arm_gazebo" params="arm_id">
<xacro:macro name="arm_material" params="link">
<gazebo reference="${link}">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
</xacro:macro>
<xacro:arm_material link="${arm_id}_link0"/>
<xacro:arm_material link="${arm_id}_link1"/>
<xacro:arm_material link="${arm_id}_link2"/>
<xacro:arm_material link="${arm_id}_link3"/>
<xacro:arm_material link="${arm_id}_link4"/>
<xacro:arm_material link="${arm_id}_link5"/>
<xacro:arm_material link="${arm_id}_link6"/>
<xacro:arm_material link="${arm_id}_link7"/>
<xacro:arm_material link="${arm_id}_link8"/>
</xacro:macro>
<xacro:macro name="hand_gazebo" params="arm_id">
<xacro:macro name="hand_material" params="link">
<gazebo reference="${link}">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
</xacro:macro>
<xacro:hand_material link="${arm_id}_hand"/>
<xacro:hand_material link="${arm_id}_rightfinger"/>
<xacro:hand_material link="${arm_id}_leftfinger"/>
</xacro:macro>
</robot>
21 changes: 20 additions & 1 deletion franka_description/robots/panda_arm.urdf.xacro
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:arg name="arm_id" default="panda"/>
<xacro:arg name="use_cylinder_collision_model" default="true"/>
<xacro:arg name="use_gazebo_sim" default="false"/>

<xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" />
<xacro:panda_arm safety_distance="0.03"/>

<xacro:if value="$(arg use_gazebo_sim)">
<xacro:include filename="$(find franka_description)/robots/panda.gazebo.xacro"/>
<xacro:include filename="$(find franka_description)/robots/panda.control.xacro"/>
</xacro:if>
<link name="world"/>
<xacro:panda_arm xyz="0 0 0" rpy="0 0 0" connected_to="world" arm_id="$(arg arm_id)"
safety_distance="0.03" use_cylinder_collision_model="$(arg use_cylinder_collision_model)"/>

<xacro:if value="$(arg use_gazebo_sim)">
<xacro:arm_gazebo arm_id="$(arg arm_id)"/>
<xacro:arm_control arm_id="$(arg arm_id)"/>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"/>
</gazebo>
</xacro:if>
</robot>
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