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florent-lamirauxflorent-lamiraux
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[python] Allow to load robot from file.
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3 files changed

+345
-9
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3 files changed

+345
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‎CMakeLists.txt

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -80,3 +80,8 @@ INSTALL(FILES
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config/controller.yaml
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config/sot_params.yaml
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DESTINATION share/${PROJECT_NAME}/config)
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# Install default URDF file
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INSTALL(FILES
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urdf/ur10.urdf
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DESTINATION share/${PROJECT_NAME}/urdf)

‎src/dynamic_graph/sot/universal_robot/universal_robot.py

Lines changed: 13 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -15,22 +15,26 @@ class UniversalRobot(AbstractRobot):
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This class defines a UniversalRobot UR3, UR5, or UR10
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"""
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defaultFilename = "package://tiago_data/robots/tiago_steel.urdf"
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defaultFilename = "package://sot_universal_robot/urdf/ur10.urdf"
1919

20-
def __init__(self, name, device=None, tracer=None):
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def __init__(self, name, device=None, tracer=None, loadFromFile=False):
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self.OperationalPointsMap = {
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'wrist': 'wrist_3_joint',
2323
'gaze': 'wrist_3_joint',
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}
2525

26-
print("Using ROS parameter \"/robot_description\"")
2726
rosParamName = "/robot_description"
28-
import rospy
29-
if rosParamName not in rospy.get_param_names():
30-
raise RuntimeError('"' + rosParamName + '" is not a ROS parameter.')
31-
s = rospy.get_param(rosParamName)
32-
self.loadModelFromString(s, rootJointType=None,
33-
removeMimicJoints=True)
27+
if loadFromFile:
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print("Loading from file " + self.defaultFilename)
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self.loadModelFromUrdf(self.defaultFilename, rootJointType=None)
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else:
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print("Using ROS parameter \"/robot_description\"")
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import rospy
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if rosParamName not in rospy.get_param_names():
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raise RuntimeError('"' + rosParamName +
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'" is not a ROS parameter.')
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s = rospy.get_param(rosParamName)
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self.loadModelFromString(s, rootJointType=None)
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AbstractRobot.__init__(self, name, tracer)
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# Create rigid body dynamics model and data (pinocchio)

‎urdf/ur10.urdf

Lines changed: 327 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,327 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from /root/catkin_ws/install/share/agimus_demos/urdf/ur10_robot.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="ur10">
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="ros_control">
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<!--robotNamespace>/</robotNamespace-->
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<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
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</plugin>
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<!--
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<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>1.0</updateRate>
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<timeout>5</timeout>
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<powerStateTopic>power_state</powerStateTopic>
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<powerStateRate>10.0</powerStateRate>
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<fullChargeCapacity>87.78</fullChargeCapacity>
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<dischargeRate>-474</dischargeRate>
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<chargeRate>525</chargeRate>
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<dischargeVoltage>15.52</dischargeVoltage>
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<chargeVoltage>16.41</chargeVoltage>
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</plugin>
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-->
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</gazebo>
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<!--
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Author: Kelsey Hawkins
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Contributers: Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
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-->
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<!-- measured from model -->
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<link name="base_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/base.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/base.stl" />
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</geometry>
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</collision>
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<inertial>
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<mass value="4.0" />
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
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</inertial>
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</link>
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<joint name="shoulder_pan_joint" type="revolute" >
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<parent link="base_link"/>
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<child link="shoulder_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1273"/>
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<axis xyz="0 0 1"/>
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<limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="2.16"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="shoulder_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/shoulder.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="7.778" />
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.0314743125769" ixy="0.0" ixz="0.0" iyy="0.0314743125769" iyz="0.0" izz="0.021875625" />
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</inertial>
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</link>
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<joint name="shoulder_lift_joint" type="revolute" >
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<parent link="shoulder_link"/>
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<child link="upper_arm_link"/>
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<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.220941 0.0"/>
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<axis xyz="0 1 0"/>
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<limit effort="330.0" lower="-6.28318530718" upper="6.28318530718" velocity="2.16"/>
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<dynamics damping="0.0" friction="0.0" />
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</joint>
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<link name="upper_arm_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/upperarm.dae" />
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/upperarm.stl" />
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</geometry>
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</collision>
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<inertial>
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<mass value="12.93" />
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<origin rpy="0 0 0" xyz="0.0 -0.045 0.306"/>
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<inertia ixx="0.421753803798" ixy="0.0" ixz="0.0" iyy="0.421753803798" iyz="0.0" izz="0.036365625"/>
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</inertial>
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</link>
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<joint name="elbow_joint" type="revolute">
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<parent link="upper_arm_link"/>
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<child link="forearm_link" />
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1719 0.612"/>
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<axis xyz="0 1 0"/>
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<limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="forearm_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/forearm.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="3.87"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.28615"/>
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<inertia ixx="0.111069694097" ixy="0.0" ixz="0.0" iyy="0.111069694097" iyz="0.0" izz="0.010884375" />
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</inertial>
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</link>
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<joint name="wrist_1_joint" type="revolute" >
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<parent link="forearm_link"/>
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<child link="wrist_1_link"/>
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<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.5723"/>
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<axis xyz="0 1 0"/>
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<limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="wrist_1_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/wrist1.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/wrist1.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.96"/>
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<origin rpy="0 0 0" xyz="0.0 0.1149 0.0"/>
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<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125" />
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</inertial>
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</link>
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<joint name="wrist_2_joint" type="revolute" >
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<parent link="wrist_1_link"/>
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<child link="wrist_2_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.1149 0.0"/>
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<axis xyz="0 0 1" />
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<limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="wrist_2_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/wrist2.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/wrist2.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.96"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.1157"/>
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<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125" />
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</inertial>
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</link>
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<joint name="wrist_3_joint" type="revolute" >
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<parent link="wrist_2_link"/>
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<child link="wrist_3_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1157"/>
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<axis xyz="0 1 0" />
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<limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="wrist_3_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/wrist3.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/wrist3.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.202"/>
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<origin rpy="1.57079632679 0 0" xyz="0.0 0.07695 0.0"/>
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<inertia ixx="0.000117921661165" ixy="0.0" ixz="0.0" iyy="0.000117921661165" iyz="0.0" izz="0.000204525"/>
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</inertial>
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</link>
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<joint name="ee_fixed_joint" type="fixed">
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<parent link="wrist_3_link"/>
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<child link="ee_link" />
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<origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0922 0.0"/>
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</joint>
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<link name="ee_link">
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<collision>
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<geometry>
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<box size="0.01 0.01 0.01"/>
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</geometry>
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<origin rpy="0 0 0" xyz="-0.01 0 0"/>
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</collision>
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</link>
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<transmission name="shoulder_pan_trans" >
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="shoulder_pan_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="shoulder_pan_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="shoulder_lift_trans" >
243+
<type>transmission_interface/SimpleTransmission</type>
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<joint name="shoulder_lift_joint">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="shoulder_lift_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
250+
</transmission>
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<transmission name="elbow_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="elbow_joint" >
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="elbow_motor">
257+
<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="wrist_1_trans">
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<type>transmission_interface/SimpleTransmission</type>
262+
<joint name="wrist_1_joint" >
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="wrist_1_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="wrist_2_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="wrist_2_joint" >
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
274+
<actuator name="wrist_2_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="wrist_3_trans">
279+
<type>transmission_interface/SimpleTransmission</type>
280+
<joint name="wrist_3_joint" >
281+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="wrist_3_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
286+
</transmission>
287+
<gazebo reference="shoulder_link">
288+
<selfCollide>true</selfCollide>
289+
</gazebo>
290+
<gazebo reference="upper_arm_link" >
291+
<selfCollide>true</selfCollide>
292+
</gazebo>
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<gazebo reference="forearm_link" >
294+
<selfCollide>true</selfCollide>
295+
</gazebo>
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<gazebo reference="wrist_1_link" >
297+
<selfCollide>true</selfCollide>
298+
</gazebo>
299+
<gazebo reference="wrist_3_link" >
300+
<selfCollide>true</selfCollide>
301+
</gazebo>
302+
<gazebo reference="wrist_2_link" >
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<selfCollide>true</selfCollide>
304+
</gazebo>
305+
<gazebo reference="ee_link" >
306+
<selfCollide>true</selfCollide>
307+
</gazebo>
308+
<!-- ROS base_link to UR 'Base' Coordinates transform -->
309+
<link name="base"/>
310+
<joint name="base_link-base_fixed_joint" type="fixed">
311+
<!-- NOTE: this rotation is only needed as long as base_link itself is
312+
not corrected wrt the real robot (ie: rotated over 180
313+
degrees)
314+
-->
315+
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
316+
<parent link="base_link"/>
317+
<child link="base"/>
318+
</joint>
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<!-- Frame coincident with all-zeros TCP on UR controller -->
320+
<link name="tool0"/>
321+
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
322+
<origin rpy="-1.57079632679 0 0" xyz="0 0.0922 0"/>
323+
<parent link="wrist_3_link"/>
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<child link="tool0"/>
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</joint>
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</robot>
327+

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