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Improve joint simulation #40

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0bf3b6f
Improve joint simulation
nickswalker Sep 17, 2021
cfc40d0
Use effort control for all arm joints
nickswalker Nov 1, 2021
2ef81b3
Increase mass of base
nickswalker Nov 1, 2021
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2 changes: 1 addition & 1 deletion stretch_description/urdf/stretch_main.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
xyz="-0.109461304328163 -0.000741018909047708 0.0914915269429946"
rpy="0 0 0" />
<mass
value="1.0723782659782" />
value="6.0" />
<inertia
ixx="0.00310580907710135"
ixy="1.5182848191076E-06"
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10 changes: 9 additions & 1 deletion stretch_gazebo/config/arm.yaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
stretch_arm_controller:
type: "position_controllers/JointTrajectoryController"
type: "effort_controllers/JointTrajectoryController"
joints:
- joint_lift
- joint_arm_l3
Expand All @@ -21,3 +21,11 @@ stretch_arm_controller:
stop_trajectory_duration: 0.5
state_publish_rate: 25
action_monitor_rate: 10

gains:
joint_lift: { p: 500, d: 100, i: 0, i_clamp: 1 }
joint_arm_l3: { p: 100, d: 30, i: 0, i_clamp: 1 }
joint_arm_l2: { p: 100, d: 30, i: 0, i_clamp: 1 }
joint_arm_l1: { p: 100, d: 30, i: 0, i_clamp: 1 }
joint_arm_l0: { p: 100, d: 30, i: 0, i_clamp: 1 }
joint_wrist_yaw: { p: 100, d: 1, i: 0, i_clamp: 1 }
14 changes: 14 additions & 0 deletions stretch_gazebo/config/gazebo_ros_control_params.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
gazebo_ros_control/pid_gains:
#joint_right_wheel: {p: 10000, i: 0.0, d: 0.4}
#joint_left_wheel: {p: 10000, i: 0.0, d: 0.4}
joint_lift: {p: 5000, i: 0.0, d: 200}
joint_arm_l0: {p: 100, i: 0.0, d: 30}
joint_arm_l1: {p: 100, i: 0.0, d: 30}
joint_arm_l2: {p: 100, i: 0.0, d: 30}
joint_arm_l3: {p: 100, i: 0.0, d: 30}
joint_wrist_yaw: {p: 20, i: 5.0, d: 0.4}
joint_head_pan: {p: 2, i: 0.0, d: 0.4}
joint_head_tilt: {p: 2, i: 0.0, d: 0.4}
joint_gripper_finger_left: {p: 0.5, i: 0.0, d: 0.4}
joint_gripper_finger_right: {p: 0.5, i: 0.0, d: 0.4}

6 changes: 5 additions & 1 deletion stretch_gazebo/config/gripper.yaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
stretch_gripper_controller:
type: "position_controllers/JointTrajectoryController"
type: "effort_controllers/JointTrajectoryController"
joints:
- joint_gripper_finger_right
- joint_gripper_finger_left
Expand All @@ -13,3 +13,7 @@ stretch_gripper_controller:
stop_trajectory_duration: 0.5
state_publish_rate: 25
action_monitor_rate: 10

gains:
joint_gripper_finger_right: {p: 100, d: 1, i: 0, i_clamp: 1}
joint_gripper_finger_left: {p: 100, d: 1, i: 0, i_clamp: 1}
3 changes: 3 additions & 0 deletions stretch_gazebo/launch/gazebo.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,9 @@

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find stretch_gazebo)/config/sim.rviz" if="$(arg rviz)"/>

<rosparam command="load"
file="$(find stretch_gazebo)/config/gazebo_ros_control_params.yaml"/>

<rosparam command="load"
file="$(find stretch_gazebo)/config/joints.yaml"
ns="stretch_joint_state_controller" />
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16 changes: 8 additions & 8 deletions stretch_gazebo/urdf/stretch_gazebo.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -372,7 +372,7 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_lift">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>

Expand Down Expand Up @@ -428,7 +428,7 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l0">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_arm_l1">
Expand All @@ -437,7 +437,7 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_arm_l2">
Expand All @@ -446,7 +446,7 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_arm_l3">
Expand All @@ -455,7 +455,7 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>

Expand All @@ -475,7 +475,7 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_wrist_yaw">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>

Expand Down Expand Up @@ -585,7 +585,7 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_gripper_finger_left">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_gripper_finger_right">
Expand All @@ -594,7 +594,7 @@
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_gripper_finger_right">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>

Expand Down