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Modified arm controller node to handle all arm control. It receives desired end effector poses and actuates the arm. Also includes some clean up.

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This commit is contained in:
Derek Witcpalek
2020-04-15 15:52:49 -04:00
parent ef26d8ffef
commit ba6901d32a
9 changed files with 331 additions and 591 deletions
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1
rrrobot_src/build.sh
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@@ -5,3 +5,4 @@ catkin_make &&
catkin_make install && catkin_make install &&
source devel/setup.bash source devel/setup.bash
export GAZEBO_RESOURCE_PATH=$(pwd)/world:$GAZEBO_RESOURCE_PATH

1
rrrobot_src/src/arm_control/CMakeLists.txt
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@@ -10,6 +10,7 @@ add_compile_options(-std=c++11;-g3)
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
roscpp roscpp
std_msgs std_msgs
geometry_msgs
) )
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions

48
rrrobot_src/src/arm_control/include/arm_control/arm.h
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@@ -23,47 +23,6 @@ public:
*/ */
Arm(const std::string &sdf_file); Arm(const std::string &sdf_file);
/*
* Gets the center of mass of the remaining arm, starting from the
* link in index (ie the center of mass of links l[i]-l[n])
*/
KDL::Vector getCOM(size_t index);
/*
* Gets the center of mass of the remaining arm, starting from the
* link named 'link_name'
*/
KDL::Vector getCOM(const std::string &link_name);
/*
* Gets the inertia of the remaining arm about the joint in index. This
* treats the preceding segments as if they are stationary and calculates
* the inertia of the remaining arm.
*/
float getInertia(size_t index);
/*
* Gets the inertia of the remaining arm about the joint named 'joint_name'. This
* treats the preceding segments as if they are stationary and calculates
* the inertia of the remaining arm.
*/
float getInertia(const std::string &joint_name);
/*
* This returns the mass of the remaining links, starting from (and including)
* the link at index
*/
float getSupportedMass(size_t index);
/*
* This returns the mass of the remaining links, starting from (and including)
* the link named 'link_name'
*/
float getSupportedMass(const std::string &link_name);
/*
* This returns the torques required to get the arm moving with the desired
* angular acceleration.
*/
std::vector<float> getRequiredTorques(/*std::vector<float> theta_des, std::vector<float> theta_dot_des, */ std::vector<float> theta_double_dot_des);
/* /*
* Using the provided joint positions, this calculates the position of the end of the * Using the provided joint positions, this calculates the position of the end of the
* arm. Returns whether it was successful * arm. Returns whether it was successful
@@ -85,11 +44,4 @@ private:
std::unique_ptr<KDL::ChainFkSolverPos_recursive> fksolver; std::unique_ptr<KDL::ChainFkSolverPos_recursive> fksolver;
std::unique_ptr<KDL::ChainIkSolverPos_LMA> iksolver; std::unique_ptr<KDL::ChainIkSolverPos_LMA> iksolver;
std::unique_ptr<KDL::ChainIdSolver_RNE> idsolver; std::unique_ptr<KDL::ChainIdSolver_RNE> idsolver;
/*
* i_com: the inertia about the center of mass of this link
* mass: the mass of this link
* distance: the distance from the center of mass to the new axis
*/
float parallelAxisTheorem(float i_com, float mass, float distance);
}; };

123
rrrobot_src/src/arm_control/launch/arm.launch Normal file
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@@ -0,0 +1,123 @@
<launch>
<node name="shoulder_pivot_pid" pkg="pid" type="controller" output="screen" >
<param name="Kp" value="450.0" />
<param name="Ki" value="5.0" />
<param name="Kd" value="600.0" />
<param name="upper_limit" value="10000" />
<param name="lower_limit" value="-10000" />
<param name="windup_limit" value="1000" />
<param name="cutoff_frequency" value="20" />
<param name="max_loop_frequency" value="105.0" />
<param name="min_loop_frequency" value="95.0" />
<param name="setpoint_timeout" value="-1.0" />
<param name="topic_from_controller" value="/arm_node/arm_commands/shoulder_pivot_torque" />
<param name="topic_from_plant" value="/arm_node/arm_positions/shoulder_pivot_angle" />
<param name="setpoint_topic" value="/arm_node/shoulder_pivot_setpoint" />
</node>
<node name="shoulder_joint_pid" pkg="pid" type="controller" output="screen" >
<param name="Kp" value="1200.0" />
<param name="Ki" value="40.0" />
<param name="Kd" value="1400.0" />
<param name="upper_limit" value="10000" />
<param name="lower_limit" value="-10000" />
<param name="windup_limit" value="1000" />
<param name="cutoff_frequency" value="20" />
<param name="max_loop_frequency" value="105.0" />
<param name="min_loop_frequency" value="95.0" />
<param name="setpoint_timeout" value="-1.0" />
<param name="topic_from_controller" value="/arm_node/arm_commands/shoulder_joint_torque" />
<param name="topic_from_plant" value="/arm_node/arm_positions/shoulder_joint_angle" />
<param name="setpoint_topic" value="/arm_node/shoulder_joint_setpoint" />
</node>
<node name="elbow_joint_pid" pkg="pid" type="controller" output="screen" >
<param name="Kp" value="400.0" />
<param name="Ki" value="15.0" />
<param name="Kd" value="400.0" />
<param name="upper_limit" value="10000" />
<param name="lower_limit" value="-10000" />
<param name="windup_limit" value="1000" />
<param name="cutoff_frequency" value="20" />
<param name="max_loop_frequency" value="105.0" />
<param name="min_loop_frequency" value="95.0" />
<param name="setpoint_timeout" value="-1.0" />
<param name="topic_from_controller" value="/arm_node/arm_commands/elbow_joint_torque" />
<param name="topic_from_plant" value="/arm_node/arm_positions/elbow_joint_angle" />
<param name="setpoint_topic" value="/arm_node/elbow_joint_setpoint" />
</node>
<node name="wrist_pivot_pid" pkg="pid" type="controller" output="screen" >
<param name="Kp" value="3.0" />
<param name="Ki" value="0.5" />
<param name="Kd" value="1.0" />
<param name="upper_limit" value="1000" />
<param name="lower_limit" value="-1000" />
<param name="windup_limit" value="100" />
<param name="cutoff_frequency" value="20" />
<param name="max_loop_frequency" value="105.0" />
<param name="min_loop_frequency" value="95.0" />
<param name="setpoint_timeout" value="-1.0" />
<param name="topic_from_controller" value="/arm_node/arm_commands/wrist_pivot_torque" />
<param name="topic_from_plant" value="/arm_node/arm_positions/wrist_pivot_angle" />
<param name="setpoint_topic" value="/arm_node/wrist_pivot_setpoint" />
</node>
<node name="wrist_joint_pid" pkg="pid" type="controller" output="screen" >
<param name="Kp" value="2.0" />
<param name="Ki" value="0.5" />
<param name="Kd" value="1.0" />
<param name="upper_limit" value="1000" />
<param name="lower_limit" value="-1000" />
<param name="windup_limit" value="100" />
<param name="cutoff_frequency" value="20" />
<param name="max_loop_frequency" value="105.0" />
<param name="min_loop_frequency" value="95.0" />
<param name="setpoint_timeout" value="-1.0" />
<param name="topic_from_controller" value="/arm_node/arm_commands/wrist_joint_torque" />
<param name="topic_from_plant" value="/arm_node/arm_positions/wrist_joint_angle" />
<param name="setpoint_topic" value="/arm_node/wrist_joint_setpoint" />
</node>
<node name="end_effector_pivot_pid" pkg="pid" type="controller" output="screen" >
<param name="Kp" value="0.0" />
<param name="Ki" value="0.0" />
<param name="Kd" value="0.0" />
<param name="upper_limit" value="1000" />
<param name="lower_limit" value="-1000" />
<param name="windup_limit" value="100" />
<param name="cutoff_frequency" value="20" />
<param name="max_loop_frequency" value="105.0" />
<param name="min_loop_frequency" value="95.0" />
<param name="setpoint_timeout" value="-1.0" />
<param name="topic_from_controller" value="/arm_node/arm_commands/end_effector_pivot_torque" />
<param name="topic_from_plant" value="/arm_node/arm_positions/end_effector_pivot_angle" />
<param name="setpoint_topic" value="/arm_node/end_effector_pivot_setpoint" />
</node>
<!-- <node name="servo_sim_node" pkg="pid" type="plant_sim" output="screen" >
<param name="plant_order" value="2" />
</node> -->
<node name="arm_controller" pkg="arm_control" type="arm_control_node" output="screen" />
<node name="arm_movement_demo" pkg="arm_control" type="arm_movement_demo" output="screen" />
<!-- rqt_plot is a resource hog, so if you're seeing high CPU usage, don't launch rqt_plot -->
<!-- node name="rqt_plot" pkg="rqt_plot" type="rqt_plot"
args="/control_effort/data /state/data /setpoint/data" -->
<node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
<!--node name="rqt_robot_monitor" pkg="rqt_robot_monitor" type="rqt_robot_monitor" -->
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="rrrobot_setpoint.world"/> <!--Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
<arg name="paused" value="true"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="recording" value="false"/>
<arg name="debug" value="false"/>
</include>
</launch>

127
rrrobot_src/src/arm_control/src/arm.cpp
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@@ -53,8 +53,6 @@ Arm::Arm(const std::string &sdf_file)
sdf::ElementPtr link = model->GetElement("link"); sdf::ElementPtr link = model->GetElement("link");
while (link) while (link)
{ {
// cout << "Link: " << link->Get<string>("name") << endl;
const string name(link->Get<string>("name")); const string name(link->Get<string>("name"));
links[name].link_name = name; links[name].link_name = name;
@@ -70,7 +68,6 @@ Arm::Arm(const std::string &sdf_file)
const sdf::ElementPtr inertial_data = link->GetElement("inertial"); const sdf::ElementPtr inertial_data = link->GetElement("inertial");
float mass = inertial_data->Get<float>("mass"); float mass = inertial_data->Get<float>("mass");
links[name].mass = mass; links[name].mass = mass;
// cout << "Mass: " << mass << endl;
// Get the center of mass for this link // Get the center of mass for this link
stringstream inertial_data_ss(inertial_data->GetElement("pose")->GetValue()->GetAsString()); stringstream inertial_data_ss(inertial_data->GetElement("pose")->GetValue()->GetAsString());
@@ -120,7 +117,7 @@ Arm::Arm(const std::string &sdf_file)
else if (axis_num == 2) else if (axis_num == 2)
joint_type = KDL::Joint::JointType::RotZ; joint_type = KDL::Joint::JointType::RotZ;
links[child].joint = KDL::Joint(name, joint_type); // correct links[child].joint = KDL::Joint(name, joint_type);
stringstream pose_string(joint->GetElement("pose")->GetValue()->GetAsString()); stringstream pose_string(joint->GetElement("pose")->GetValue()->GetAsString());
float x, y, z; float x, y, z;
@@ -129,7 +126,7 @@ Arm::Arm(const std::string &sdf_file)
KDL::Rotation frame_rotation = KDL::Rotation::RPY(roll, pitch, yaw); KDL::Rotation frame_rotation = KDL::Rotation::RPY(roll, pitch, yaw);
KDL::Vector frame_location(x, y, z); KDL::Vector frame_location(x, y, z);
links[child].joint_frame = KDL::Frame(frame_rotation, frame_location); // incorrect --> this is actually the links[child].joint_frame = KDL::Frame(frame_rotation, frame_location);
joint = joint->GetNextElement("joint"); joint = joint->GetNextElement("joint");
} }
@@ -148,60 +145,12 @@ Arm::Arm(const std::string &sdf_file)
KDL::Frame joint_relative_to_prev = prev_frame.Inverse() * joint_in_world; KDL::Frame joint_relative_to_prev = prev_frame.Inverse() * joint_in_world;
KDL::Vector com_in_prev = joint_relative_to_prev * links[cur_link_name].com_location; KDL::Vector com_in_prev = joint_relative_to_prev * links[cur_link_name].com_location;
// // EXPERIMENTAL - update rotation axis
// KDL::Vector uncorrected_axis(0, 0, 0);
// if (links[cur_link_name].joint.getType() == KDL::Joint::JointType::RotX)
// {
// uncorrected_axis = KDL::Vector(1, 0, 0);
// }
// else if (links[cur_link_name].joint.getType() == KDL::Joint::JointType::RotY)
// {
// uncorrected_axis = KDL::Vector(0, 1, 0);
// }
// else if (links[cur_link_name].joint.getType() == KDL::Joint::JointType::RotZ)
// {
// uncorrected_axis = KDL::Vector(0, 0, 1);
// }
// KDL::Vector corrected_axis = joint_relative_to_prev.M * uncorrected_axis;
// double x = fabs(corrected_axis.x());
// double y = fabs(corrected_axis.y());
// double z = fabs(corrected_axis.z());
// const string &name(links[cur_link_name].joint.getName());
// if (x > y and x > z)
// {
// links[cur_link_name].joint = KDL::Joint(name, KDL::Joint::JointType::RotX);
// }
// else if (y > x and y > z)
// {
// links[cur_link_name].joint = KDL::Joint(name, KDL::Joint::JointType::RotY);
// }
// else if (z > x and z > y)
// {
// links[cur_link_name].joint = KDL::Joint(name, KDL::Joint::JointType::RotZ);
// }
// // END EXPERIMENTAL
KDL::Joint::JointType next(links[cur_link_name].joint.getType()); KDL::Joint::JointType next(links[cur_link_name].joint.getType());
KDL::RigidBodyInertia inertia(links[cur_link_name].mass, com_in_prev /*links[cur_link_name].com_location*/, links[cur_link_name].rotational_inertia); KDL::RigidBodyInertia inertia(links[cur_link_name].mass, com_in_prev /*links[cur_link_name].com_location*/, links[cur_link_name].rotational_inertia);
KDL::Segment to_add(links[cur_link_name].link_name, KDL::Joint(links[cur_link_name].joint.getName(), to_set), joint_relative_to_prev, inertia); KDL::Segment to_add(links[cur_link_name].link_name, KDL::Joint(links[cur_link_name].joint.getName(), to_set), joint_relative_to_prev, inertia);
to_set = next; to_set = next;
// cout << cur_link_name << endl;
double roll, pitch, yaw;
// cout << " joint in world coordinates:" << endl;
// cout << joint_in_world << endl;
// cout << " joint in previous joint's frame:" << endl;
// cout << joint_relative_to_prev << endl;
// cout << " previous frame inverse:" << endl;
// cout << prev_frame_inverse << endl;
// cout << "Joint type: " << links[cur_link_name].joint.getTypeName() << "\n\n"
// << endl;
arm.addSegment(to_add); arm.addSegment(to_add);
prev_frame = joint_in_world; prev_frame = joint_in_world;
@@ -215,64 +164,6 @@ Arm::Arm(const std::string &sdf_file)
idsolver.reset(new KDL::ChainIdSolver_RNE(arm, KDL::Vector(0, 0, -9.81))); idsolver.reset(new KDL::ChainIdSolver_RNE(arm, KDL::Vector(0, 0, -9.81)));
} }
/*
* Gets the center of mass of the remaining arm, starting from the
* link in index (ie the center of mass of links l[i]-l[n])
*/
KDL::Vector Arm::getCOM(size_t index)
{
}
/*
* Gets the center of mass of the remaining arm, starting from the
* link named 'link_name'
*/
KDL::Vector Arm::getCOM(const std::string &link_name)
{
}
/*
* Gets the inertia of the remaining arm about the joint in index. This
* treats the preceding segments as if they are stationary and calculates
* the inertia of the remaining arm.
*/
float Arm::getInertia(size_t index)
{
}
/*
* Gets the inertia of the remaining arm about the joint named 'joint_name'. This
* treats the preceding segments as if they are stationary and calculates
* the inertia of the remaining arm.
*/
float Arm::getInertia(const std::string &joint_name)
{
}
/*
* This returns the mass of the remaining links, starting from (and including)
* the link at index
*/
float Arm::getSupportedMass(size_t index)
{
}
/*
* This returns the mass of the remaining links, starting from (and including)
* the link named 'link_name'
*/
float Arm::getSupportedMass(const std::string &link_name)
{
}
/*
* This returns the torques required to get the arm moving with the desired
* angular acceleration.
*/
std::vector<float> Arm::getRequiredTorques(/*std::vector<float> theta_des, std::vector<float> theta_dot_des, */ std::vector<float> theta_double_dot_des)
{
}
/* /*
* Using the provided joint positions, this calculates the pose of the end of the * Using the provided joint positions, this calculates the pose of the end of the
* arm. Returns whether it was successful * arm. Returns whether it was successful
@@ -289,11 +180,6 @@ bool Arm::calculateInverseKinematics(const KDL::JntArray &cur_configuration, con
int Arm::calculateInverseDynamics(const KDL::JntArray &pos, const KDL::JntArray &vel, const KDL::JntArray &accel, const KDL::Wrenches &f_external, KDL::JntArray &required_torque) int Arm::calculateInverseDynamics(const KDL::JntArray &pos, const KDL::JntArray &vel, const KDL::JntArray &accel, const KDL::Wrenches &f_external, KDL::JntArray &required_torque)
{ {
// cout << pos.rows() << endl;
// cout << vel.rows() << endl;
// cout << accel.rows() << endl;
// cout << f_external.size() << endl;
// cout << required_torque.rows() << endl;
return idsolver->CartToJnt(pos, vel, accel, f_external, required_torque); return idsolver->CartToJnt(pos, vel, accel, f_external, required_torque);
} }
@@ -314,13 +200,4 @@ void Arm::print() const
cout << '\t' << seg.getInertia().getCOG() << endl; cout << '\t' << seg.getInertia().getCOG() << endl;
cout << endl; cout << endl;
} }
}
/*
* i_com: the inertia about the center of mass of this link
* mass: the mass of this link
* distance: the distance from the center of mass to the new axis
*/
float Arm::parallelAxisTheorem(float i_com, float mass, float distance)
{
} }

273
rrrobot_src/src/arm_control/src/arm_controller.cpp
View File

@@ -1,6 +1,9 @@
#include <arm.h> #include <arm.h>
#include <iostream> #include <iostream>
#include <geometry_msgs/Pose.h>
#include <std_msgs/Float64.h>
#include <kdl/chain.hpp> #include <kdl/chain.hpp>
#include <kdl/chainfksolver.hpp> #include <kdl/chainfksolver.hpp>
#include <kdl/chainfksolverpos_recursive.hpp> #include <kdl/chainfksolverpos_recursive.hpp>
@@ -20,226 +23,106 @@ using namespace KDL;
Arm arm("/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.sdf"); Arm arm("/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.sdf");
KDL::Chain chain = arm.getArm(); KDL::Chain chain = arm.getArm();
KDL::Chain simple_chain; KDL::JntArray pos(arm.getArm().getNrOfJoints());
ros::Publisher publisher;
void enforce_torque_limits(simulation_env::arm_command &cmd, double limit = 2000.0) ros::Publisher shoulder_pivot_publisher;
ros::Publisher shoulder_joint_publisher;
ros::Publisher elbow_joint_publisher;
ros::Publisher wrist_pivot_publisher;
ros::Publisher wrist_joint_publisher;
ros::Publisher end_effector_pivot_publisher;
void shoulder_pivot_callback(const std_msgs::Float64 &cmd)
{ {
if (cmd.shoulder_pivot_force > limit) pos(0) = cmd.data;
cmd.shoulder_pivot_force = limit;
else if (cmd.shoulder_pivot_force < -limit)
cmd.shoulder_pivot_force = -limit;
if (cmd.shoulder_joint_force > limit)
cmd.shoulder_joint_force = limit;
else if (cmd.shoulder_joint_force < -limit)
cmd.shoulder_joint_force = -limit;
if (cmd.elbow_joint_force > limit)
cmd.elbow_joint_force = limit;
else if (cmd.elbow_joint_force < -limit)
cmd.elbow_joint_force = -limit;
if (cmd.wrist_pivot_force > limit)
cmd.wrist_pivot_force = limit;
else if (cmd.wrist_pivot_force < -limit)
cmd.wrist_pivot_force = -limit;
if (cmd.wrist_joint_force > limit)
cmd.wrist_joint_force = limit;
else if (cmd.wrist_joint_force < -limit)
cmd.wrist_joint_force = -limit;
if (cmd.end_effector_pivot_force > limit)
cmd.end_effector_pivot_force = limit;
else if (cmd.end_effector_pivot_force < -limit)
cmd.end_effector_pivot_force = -limit;
} }
void angle_callback(const simulation_env::arm_angles &msg) void shoulder_joint_callback(const std_msgs::Float64 &cmd)
{ {
// Create solver based on kinematic chain pos(1) = cmd.data;
static ChainFkSolverPos_recursive fksolver = KDL::ChainFkSolverPos_recursive(chain); }
static KDL::JntArray prev_pos = KDL::JntArray(chain.getNrOfJoints());
static KDL::JntArray prev_vel = KDL::JntArray(chain.getNrOfJoints());
static double prev_time; // = ros::Time::now();
static bool first_call = true;
static simulation_env::arm_command last_command; // = {.shoulder_pivot_force = 0, .shoulder_joint_force = 0, .elbow_joint_force = 0, .wrist_pivot_force = 0, .wrist_joint_force = 0, .end_effector_pivot_force = 0};
double cur_time = ros::Time::now().toSec(); void elbow_joint_callback(const std_msgs::Float64 &cmd)
{
pos(2) = cmd.data;
}
// Create joint array void wrist_pivot_callback(const std_msgs::Float64 &cmd)
unsigned int nj = chain.getNrOfJoints(); {
KDL::JntArray jointpositions = KDL::JntArray(nj); pos(3) = cmd.data;
}
jointpositions(0) = msg.shoulder_pivot_angle; void wrist_joint_callback(const std_msgs::Float64 &cmd)
jointpositions(1) = msg.shoulder_joint_angle; {
jointpositions(2) = msg.elbow_joint_angle; pos(4) = cmd.data;
jointpositions(3) = msg.wrist_pivot_angle; }
jointpositions(4) = msg.wrist_joint_angle;
jointpositions(5) = msg.end_effector_pivot_angle;
// Create the frame that will contain the results void end_effector_pivot_callback(const std_msgs::Float64 &cmd)
KDL::Frame cartpos; {
pos(5) = cmd.data;
}
// // Calculate forward position kinematics void fixAngles(const KDL::JntArray &current_angles, KDL::JntArray &desired_angles)
// bool kinematics_status; {
// kinematics_status = fksolver.JntToCart(jointpositions, cartpos); // TODO: go clockwise or counter-clockwise depending on which is shorter
// if (kinematics_status >= 0) }
// {
// // cout << nj << endl;
// // cout << "shoulder_pivot: " << jointpositions(0) << endl;
// // cout << "shoulder_joint: " << jointpositions(1) << endl;
// // cout << "elbow_joint: " << jointpositions(2) << endl;
// // cout << "wrist_pivot: " << jointpositions(3) << endl;
// // cout << "wrist_joint: " << jointpositions(4) << endl;
// // cout << "end_effector_pivot: " << jointpositions(5) << endl;
// std::cout << cartpos.p << std::endl; void endEffectorPoseTargetCallback(const geometry_msgs::Pose &msg)
// double roll, pitch, yaw; {
// cartpos.M.GetRPY(roll, pitch, yaw); KDL::JntArray required_angles(arm.getArm().getNrOfJoints());
// cout << "roll: " << roll << endl; KDL::SetToZero(required_angles);
// cout << "pitch: " << pitch << endl;
// cout << "yaw: " << yaw << endl;
// cout << endl;
// // std::cout << cartpos << std::endl; KDL::Frame desired(KDL::Rotation::Quaternion(msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w),
// //printf("%s \n", "Succes, thanks KDL!"); KDL::Vector(msg.position.x, msg.position.y, msg.position.z));
// }
// else
// {
// //printf("%s \n", "Error: could not calculate forward kinematics :(");
// }
// try to move arm to (1, 1, 1) arm.calculateInverseKinematics(pos, desired, required_angles);
double vel_default = 0.0;
KDL::JntArray vel(arm.getArm().getNrOfJoints());
KDL::JntArray accel(arm.getArm().getNrOfJoints());
// for (int joint = 0; joint < arm.getArm().getNrOfJoints(); ++joint) fixAngles(pos, required_angles);
// {
// // vel(joint) = 0;
// accel(joint) = 0;
// }
vector<double> last_command_values; std_msgs::Float64 shoulder_pivot_setpoint;
last_command_values.push_back(last_command.shoulder_pivot_force); shoulder_pivot_setpoint.data = required_angles(0);
last_command_values.push_back(last_command.shoulder_joint_force); std_msgs::Float64 shoulder_joint_setpoint;
last_command_values.push_back(last_command.elbow_joint_force); shoulder_joint_setpoint.data = required_angles(1);
last_command_values.push_back(last_command.wrist_pivot_force); std_msgs::Float64 elbow_joint_setpoint;
last_command_values.push_back(last_command.wrist_joint_force); elbow_joint_setpoint.data = required_angles(2);
last_command_values.push_back(last_command.end_effector_pivot_force); std_msgs::Float64 wrist_pivot_setpoint;
wrist_pivot_setpoint.data = required_angles(3);
std_msgs::Float64 wrist_joint_setpoint;
wrist_joint_setpoint.data = required_angles(4);
std_msgs::Float64 end_effector_setpoint;
end_effector_setpoint.data = required_angles(5);
for (int joint = 0; joint < arm.getArm().getNrOfJoints(); ++joint) shoulder_pivot_publisher.publish(shoulder_pivot_setpoint);
{ shoulder_joint_publisher.publish(shoulder_joint_setpoint);
KDL::Vector axis = arm.getArm().getSegment(joint).getJoint().JointAxis(); elbow_joint_publisher.publish(elbow_joint_setpoint);
double inertia = KDL::dot(arm.getArm().getSegment(joint).getInertia().getRotationalInertia() * axis, axis); /*axis of rotation */ wrist_pivot_publisher.publish(wrist_pivot_setpoint);
accel(joint) = (true || first_call || (inertia == 0)) ? 0.0 : last_command_values[joint] / inertia; wrist_joint_publisher.publish(wrist_joint_setpoint);
} end_effector_pivot_publisher.publish(end_effector_setpoint);
vel(0) = msg.shoulder_pivot_velocity;
vel(1) = msg.shoulder_joint_velocity;
vel(2) = msg.elbow_joint_velocity;
vel(3) = 0; //msg.wrist_pivot_velocity;
vel(4) = msg.wrist_joint_velocity;
vel(5) = 0; //msg.end_effector_pivot_velocity;
// vel(0) = 0; //(jointpositions(0) - prev_pos(0); //vel_default; //jointpositions(0) - msg.shoulder_pivot_angle;
// vel(1) = 0; //vel_default; //jointpositions(1) - msg.shoulder_joint_angle;
// vel(2) = 0; //vel_default; //jointpositions(2) - msg.elbow_joint_angle;
// vel(3) = 0; //vel_default; //jointpositions(3) - msg.wrist_pivot_angle;
// vel(4) = 0; //vel_default; //jointpositions(4) - msg.wrist_joint_angle;
// vel(5) = 0; //vel_default; //jointpositions(5) - msg.end_effector_pivot_angle;
// }
// else
// {
// for (int joint = 0; joint < arm.getArm().getNrOfJoints(); ++joint)
// {
// vel(joint) = (jointpositions(0) - prev_pos(0)) / (cur_time - prev_time);
// accel(joint) = (vel(joint) - prev_vel(joint)) / (cur_time - prev_time);
// }
// // vel(0) = (jointpositions(0) - prev_pos(0)) / (cur_time - prev_time); //vel_default; //jointpositions(0) - msg.shoulder_pivot_angle;
// // vel(1) = vel_default; //jointpositions(1) - msg.shoulder_joint_angle;
// // vel(2) = vel_default; //jointpositions(2) - msg.elbow_joint_angle;
// // vel(3) = vel_default; //jointpositions(3) - msg.wrist_pivot_angle;
// // vel(4) = vel_default; //jointpositions(4) - msg.wrist_joint_angle;
// // vel(5) = vel_default; //jointpositions(5) - msg.end_effector_pivot_angle;
// }
KDL::Wrenches ext_force(arm.getArm().getNrOfSegments());
KDL::JntArray required_force(arm.getArm().getNrOfJoints());
KDL::Frame desired(KDL::Vector(1, 1, 1));
KDL::JntArray required_positions(arm.getArm().getNrOfJoints());
// bool failed = arm.calculateInverseKinematics(jointpositions, desired, required_positions);
// int error_val = arm.calculateInverseDynamics(required_positions, vel, accel, ext_force, required_force);
int error_val = arm.calculateInverseDynamics(jointpositions, vel, accel, ext_force, required_force);
simulation_env::arm_command cmd;
cmd.shoulder_pivot_force = 0; ///* -*/ required_force(0); // last added
cmd.shoulder_joint_force = required_force(1);
cmd.elbow_joint_force = /* -*/ required_force(2);
cmd.wrist_pivot_force = 0; ///*-*/ -required_force(3);
cmd.wrist_joint_force = /* -*/ -required_force(4);
cmd.end_effector_pivot_force = 0; ///*-*/ required_force(5);
enforce_torque_limits(cmd, 10000);
// cout << "Command force:" << endl;
// cout << "\tShoulder pivot: " << cmd.shoulder_pivot_force << endl;
// cout << "\tShoulder joint: " << cmd.shoulder_joint_force << endl;
// cout << "\tElbow joint: " << cmd.elbow_joint_force << endl;
// cout << "\tWrist pivot: " << cmd.wrist_pivot_force << endl;
// cout << "\tWrist joint: " << cmd.wrist_joint_force << endl;
// cout << "\tEnd effector pivot: " << cmd.end_effector_pivot_force << endl;
publisher.publish(cmd);
ros::spinOnce();
first_call = false;
prev_pos = jointpositions;
prev_vel = vel;
prev_time = cur_time;
last_command = cmd;
} }
int main(int argc, char **argv) int main(int argc, char **argv)
{ {
cout << "Starting arm controller..." << endl; cout << "Starting arm controller..." << endl;
ros::init(argc, argv, "arm_control_test"); ros::init(argc, argv, "arm_control_node");
arm.print();
// correct.addSegment(Segment(Joint(Joint::RotZ), Frame(Vector(0.0, 0.0, 0.0))));
// correct.addSegment(Segment(Joint(Joint::RotX), Frame(Vector(0, 0, 1))));
// correct.addSegment(Segment(Joint(Joint::RotX), Frame(Vector(0, 0, 1))));
ros::NodeHandle nh; ros::NodeHandle nh;
publisher = nh.advertise<simulation_env::arm_command>("/arm_node/arm_commands", 1000); ros::Subscriber shoulder_pivot_sub = nh.subscribe("/arm_node/arm_positions/shoulder_pivot_angle", 1000, &shoulder_pivot_callback);
ros::Subscriber sub = nh.subscribe("/arm_node/arm_positions", 1000, angle_callback); ros::Subscriber shoulder_joint_sub = nh.subscribe("/arm_node/arm_positions/shoulder_joint_angle", 1000, &shoulder_joint_callback);
ros::Subscriber elbow_joint_sub = nh.subscribe("/arm_node/arm_positions/elbow_joint_angle", 1000, &elbow_joint_callback);
ros::Subscriber wrist_pivot_sub = nh.subscribe("/arm_node/arm_positions/wrist_pivot_angle", 1000, &wrist_pivot_callback);
ros::Subscriber wrist_joint_sub = nh.subscribe("/arm_node/arm_positions/wrist_joint_angle", 1000, &wrist_joint_callback);
ros::Subscriber end_effector_sub = nh.subscribe("/arm_node/arm_positions/end_effector_pivot_angle", 1000, &end_effector_pivot_callback);
cout << "0 positions for each segment" << endl; ros::Subscriber end_effector_pose_setpoint_sub = nh.subscribe("/arm_node/arm_pose_setpoint", 1000, &endEffectorPoseTargetCallback);
cout << "Base:" << endl;
cout << chain.getSegment(0).pose(0.0) << endl;
cout << "Link_1:" << endl;
cout << chain.getSegment(0).pose(0.0) * chain.getSegment(1).pose(0.0) << endl;
cout << "Link_2:" << endl;
cout << chain.getSegment(0).pose(0) * chain.getSegment(1).pose(0.0) * chain.getSegment(2).pose(0.0) << endl;
cout << "Link_3:" << endl;
cout << chain.getSegment(0).pose(0) * chain.getSegment(1).pose(0.0) * chain.getSegment(2).pose(0.0) * chain.getSegment(3).pose(0.0) << endl;
cout << "Link_4:" << endl;
cout << chain.getSegment(0).pose(0) * chain.getSegment(1).pose(0.0) * chain.getSegment(2).pose(0.0) * chain.getSegment(3).pose(0.0) * chain.getSegment(4).pose(0.0) << endl;
cout << "Link_5:" << endl;
cout << chain.getSegment(0).pose(0) * chain.getSegment(1).pose(0.0) * chain.getSegment(2).pose(0.0) * chain.getSegment(3).pose(0.0) * chain.getSegment(4).pose(0.0) * chain.getSegment(5).pose(0.0) << endl;
cout << "Link_6:" << endl;
cout << chain.getSegment(0).pose(0) * chain.getSegment(1).pose(0.0) * chain.getSegment(2).pose(0.0) * chain.getSegment(3).pose(0.0) * chain.getSegment(4).pose(0.0) * chain.getSegment(5).pose(0.0) * chain.getSegment(6).pose(0.0) << endl;
// Assign some values to the joint positions KDL::SetToZero(pos);
// for (unsigned int i = 0; i < nj; i++)
// { shoulder_pivot_publisher = nh.advertise<std_msgs::Float64>("/arm_node/shoulder_pivot_setpoint", 1000);
// float myinput; shoulder_joint_publisher = nh.advertise<std_msgs::Float64>("/arm_node/shoulder_joint_setpoint", 1000);
// // printf("Enter the position of joint %i: ", i); elbow_joint_publisher = nh.advertise<std_msgs::Float64>("/arm_node/elbow_joint_setpoint", 1000);
// // scanf("%e", &myinput); wrist_pivot_publisher = nh.advertise<std_msgs::Float64>("/arm_node/wrist_pivot_setpoint", 1000);
// jointpositions(i) = (double)0.0; wrist_joint_publisher = nh.advertise<std_msgs::Float64>("/arm_node/wrist_joint_setpoint", 1000);
// } end_effector_pivot_publisher = nh.advertise<std_msgs::Float64>("/arm_node/end_effector_pivot_setpoint", 1000);
ros::spin(); ros::spin();
cout << "Arm controller finished." << endl;
} }

234
rrrobot_src/src/arm_control/test/arm_movement_demo.cpp
View File

@@ -1,4 +1,4 @@
#include <std_msgs/Float64.h> #include <geometry_msgs/Pose.h>
#include "ros/ros.h" #include "ros/ros.h"
#include <ros/rate.h> #include <ros/rate.h>
@@ -12,248 +12,36 @@ using std::cout;
using std::endl; using std::endl;
using std::vector; using std::vector;
std_msgs::Float64 shoulder_pivot_angle;
std_msgs::Float64 shoulder_joint_angle;
std_msgs::Float64 elbow_joint_angle;
std_msgs::Float64 wrist_pivot_angle;
std_msgs::Float64 wrist_joint_angle;
std_msgs::Float64 end_effector_pivot_angle;
Arm arm("/home/rrrobot/rrrobot_src/src/gazebo_models/fanuc_robotic_arm/model.sdf");
KDL::JntArray pos(arm.getArm().getNrOfJoints());
char received_angles = 0;
void shoulder_pivot_callback(const std_msgs::Float64 &cmd)
{
// update the torque applied to each joint when a message is received
shoulder_pivot_angle = cmd;
pos(0) = cmd.data;
// cout << "shoulder pivot: " << shoulder_pivot_angle.data << endl;
received_angles |= 0x01;
}
void shoulder_joint_callback(const std_msgs::Float64 &cmd)
{
// update the torque applied to each joint when a message is received
shoulder_joint_angle = cmd;
pos(1) = cmd.data;
// cout << "shoulder joint: " << shoulder_joint_angle.data << endl;
received_angles |= 0x02;
}
void elbow_joint_callback(const std_msgs::Float64 &cmd)
{
// update the torque applied to each joint when a message is received
elbow_joint_angle = cmd;
pos(2) = cmd.data;
// cout << "elbow joint: " << elbow_joint_angle.data << endl;
received_angles |= 0x04;
}
void wrist_pivot_callback(const std_msgs::Float64 &cmd)
{
// update the torque applied to each joint when a message is received
wrist_pivot_angle = cmd;
pos(3) = cmd.data;
// cout << "wrist pivot: " << wrist_pivot_angle.data << endl;
received_angles |= 0x08;
}
void wrist_joint_callback(const std_msgs::Float64 &cmd)
{
// update the torque applied to each joint when a message is received
wrist_joint_angle = cmd;
pos(4) = cmd.data;
// cout << "wrist joint: " << wrist_joint_angle.data << endl;
received_angles |= 0x10;
}
void end_effector_pivot_callback(const std_msgs::Float64 &cmd)
{
// update the torque applied to each joint when a message is received
end_effector_pivot_angle = cmd;
pos(5) = cmd.data;
// cout << "end effector pivot: " << end_effector_pivot_angle.data << endl;
received_angles |= 0x20;
}
void fix_angle(double cur_pos, double &desired)
{
while (desired > M_PI)
{
desired -= 2 * M_PI;
}
while (desired < -M_PI)
{
desired += 2 * M_PI;
}
double cur_pos_truncated = cur_pos; // % (M_PI);
while (cur_pos_truncated > M_PI)
{
cur_pos_truncated -= 2 * M_PI;
}
while (cur_pos_truncated < -M_PI)
{
cur_pos_truncated += 2 * M_PI;
}
// say desired = 1.5708
// 4 cases:
// 1. cur_pos = 0.2 --> set target as cur_pos + 1.3708
// 2. cur_pos = -0.2 --> set target as cur_pos + 1.7708
// 3. cur_pos = -2.5 --> set target as cur_pos + 2.21239
// 4. cur_pos = 2.5 --> set target as cur_pos + 0.9292
if ((cur_pos_truncated - desired) < M_PI && (cur_pos_truncated - desired) > 0)
{
desired = cur_pos - (cur_pos_truncated - desired);
}
else if ((desired - cur_pos_truncated) < M_PI && (desired - cur_pos_truncated) > 0)
{
desired = cur_pos + (desired - cur_pos_truncated);
}
else if ((cur_pos_truncated - desired) > -M_PI && (cur_pos_truncated - desired) < 0)
{
desired = cur_pos - (cur_pos_truncated - desired);
}
else if ((desired - cur_pos_truncated) > -M_PI && (desired - cur_pos_truncated) < 0)
{
desired = cur_pos + (desired - cur_pos_truncated);
}
}
int main(int argc, char **argv) int main(int argc, char **argv)
{ {
ros::init(argc, argv, "arm_control_demo"); ros::init(argc, argv, "arm_control_demo");
KDL::SetToZero(pos);
ros::Publisher shoulder_pivot_publisher;
ros::Publisher shoulder_joint_publisher;
ros::Publisher elbow_joint_publisher;
ros::Publisher wrist_pivot_publisher;
ros::Publisher wrist_joint_publisher;
ros::Publisher end_effector_pivot_publisher;
ros::Subscriber shoulder_pivot_sub;
ros::Subscriber shoulder_joint_sub;
ros::Subscriber elbow_joint_sub;
ros::Subscriber wrist_pivot_sub;
ros::Subscriber wrist_joint_sub;
ros::Subscriber end_effector_sub;
std_msgs::Float64 shoulder_pivot_target;
shoulder_pivot_target.data = 0;
std_msgs::Float64 shoulder_joint_target;
shoulder_joint_target.data = 0;
std_msgs::Float64 elbow_joint_target;
elbow_joint_target.data = 0;
std_msgs::Float64 wrist_pivot_target;
wrist_pivot_target.data = 0;
std_msgs::Float64 wrist_joint_target;
wrist_joint_target.data = 0;
std_msgs::Float64 end_effector_pivot_target;
end_effector_pivot_target.data = 0;
ros::NodeHandle nh; ros::NodeHandle nh;
ros::Rate pub_rate(0.1); // publish every 10 seconds ros::Rate pub_rate(0.1); // publish every 10 seconds
ros::Rate quick(1); ros::Publisher end_effector_setpoint_publisher = nh.advertise<geometry_msgs::Pose>("/arm_node/arm_pose_setpoint", 1000);
shoulder_pivot_publisher = nh.advertise<std_msgs::Float64>("/arm_node/shoulder_pivot_setpoint", 1000);
shoulder_joint_publisher = nh.advertise<std_msgs::Float64>("/arm_node/shoulder_joint_setpoint", 1000);
elbow_joint_publisher = nh.advertise<std_msgs::Float64>("/arm_node/elbow_joint_setpoint", 1000);
wrist_pivot_publisher = nh.advertise<std_msgs::Float64>("/arm_node/wrist_pivot_setpoint", 1000);
wrist_joint_publisher = nh.advertise<std_msgs::Float64>("/arm_node/wrist_joint_setpoint", 1000);
end_effector_pivot_publisher = nh.advertise<std_msgs::Float64>("/arm_node/end_effector_pivot_setpoint", 1000);
shoulder_pivot_sub = nh.subscribe("/arm_node/arm_positions/shoulder_pivot_angle", 1000, &shoulder_pivot_callback);
shoulder_joint_sub = nh.subscribe("/arm_node/arm_positions/shoulder_joint_angle", 1000, &shoulder_joint_callback);
elbow_joint_sub = nh.subscribe("/arm_node/arm_positions/elbow_joint_angle", 1000, &elbow_joint_callback);
wrist_pivot_sub = nh.subscribe("/arm_node/arm_positions/wrist_pivot_angle", 1000, &wrist_pivot_callback);
wrist_joint_sub = nh.subscribe("/arm_node/arm_positions/wrist_joint_angle", 1000, &wrist_joint_callback);
end_effector_sub = nh.subscribe("/arm_node/arm_positions/end_effector_pivot_angle", 1000, &end_effector_pivot_callback);
int state = 0; int state = 0;
KDL::JntArray required_angles(arm.getArm().getNrOfJoints());
KDL::SetToZero(required_angles);
vector<KDL::Frame> desired_positions; vector<KDL::Frame> desired_positions;
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, -0.5, 1))); desired_positions.push_back(KDL::Frame(KDL::Rotation::RPY(-2.35619, 0.7853, 0.0), KDL::Vector(1, 1, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, -0.4, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, -0.3, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, -0.2, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, -0.1, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, 0.0, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, 0.1, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, 0.2, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, 0.3, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, 0.4, 1)));
// desired_positions.push_back(KDL::Frame(KDL::Vector(1, 0.5, 1)));
desired_positions.push_back(KDL::Frame(KDL::Vector(1, 1, 1)));
desired_positions.push_back(KDL::Frame(KDL::Vector(1, -1, 1))); desired_positions.push_back(KDL::Frame(KDL::Vector(1, -1, 1)));
desired_positions.push_back(KDL::Frame(KDL::Vector(1, -1, 2))); desired_positions.push_back(KDL::Frame(KDL::Vector(1, -1, 2)));
desired_positions.push_back(KDL::Frame(KDL::Vector(1, 1, 3))); desired_positions.push_back(KDL::Frame(KDL::Vector(1, 1, 3)));
while (ros::ok()) while (ros::ok())
{ {
// ros::spinOnce(); const KDL::Frame &cur_setpoint = desired_positions[state];
// ros::spinOnce(); geometry_msgs::Pose msg;
// quick.sleep(); msg.position.x = cur_setpoint.p.x();
msg.position.y = cur_setpoint.p.y();
msg.position.z = cur_setpoint.p.z();
cur_setpoint.M.GetQuaternion(msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w);
// pos(0) = shoulder_pivot_angle.data; end_effector_setpoint_publisher.publish(msg);
// pos(1) = shoulder_joint_angle.data; ros::spinOnce();
// pos(2) = elbow_joint_angle.data;
// pos(3) = wrist_pivot_angle.data;
// pos(4) = wrist_joint_angle.data;
// pos(5) = end_effector_pivot_angle.data;
// if (state) //fabs(shoulder_joint_target.data) < 0.001)
// {
arm.calculateInverseKinematics(pos, desired_positions[state] /*KDL::Frame(KDL::Vector(1, 0, 0))*/, required_angles);
//shoulder_joint_target.data = 0.7;
// }
// else
// {
// arm.calculateInverseKinematics(pos, KDL::Frame(KDL::Vector(-1, -1, 1)), required_angles);
// //shoulder_joint_target.data = 0.0;
// }
cout << desired_positions[state].p.x() << " " << desired_positions[state].p.y() << " " << desired_positions[state].p.z() << endl;
cout << "\t" << required_angles(0) << "\t" << required_angles(1) << "\t" << required_angles(2) << "\t" << required_angles(3) << "\t" << required_angles(4) << "\t" << required_angles(5) << endl;
cout << endl;
for (int idx = 0; idx < arm.getArm().getNrOfJoints(); ++idx)
{
// cout << "Cur: " << pos(idx) << "\tRequired: " << required_angles(idx) << endl;
fix_angle(pos(idx), required_angles(idx));
// cout << "\tPost fix: Required: " << required_angles(idx) << endl;
}
shoulder_pivot_target.data = required_angles(0);
shoulder_joint_target.data = required_angles(1);
elbow_joint_target.data = required_angles(2);
wrist_pivot_target.data = required_angles(3);
wrist_joint_target.data = required_angles(4);
end_effector_pivot_target.data = required_angles(5);
// cout << "Received angles: " << (int)received_angles << endl;
// if (received_angles == 0b00111111)
// {
shoulder_pivot_publisher.publish(shoulder_pivot_target);
shoulder_joint_publisher.publish(shoulder_joint_target);
elbow_joint_publisher.publish(elbow_joint_target);
wrist_pivot_publisher.publish(wrist_pivot_target);
wrist_joint_publisher.publish(wrist_joint_target);
end_effector_pivot_publisher.publish(end_effector_pivot_target);
state = (state + 1) % desired_positions.size(); state = (state + 1) % desired_positions.size();
// }
// else
// {
// ros::spinOnce();
// }
pub_rate.sleep(); pub_rate.sleep();
ros::spinOnce();
} }
} }

11
rrrobot_src/src/gazebo_models/unit_box/model.config Normal file
View File

@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<model>
<name>unit_box</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

104
rrrobot_src/src/gazebo_models/unit_box/model.sdf Normal file
View File

@@ -0,0 +1,104 @@
<?xml version='1.0'?>
<sdf version='1.6'>
<model name='unit_box'>
<link name='link'>
<inertial>
<mass>0.208095</mass>
<inertia>
<ixx>0.0180922</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0180922</iyy>
<iyz>0</iyz>
<izz>0.0346825</izz>
</inertia>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<pose frame=''>0 0 0 0 -0 0</pose>
<gravity>1</gravity>
<visual name='visual'>
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<shader type='pixel'>
<normal_map>__default__</normal_map>
</shader>
<ambient>1 0 0 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
<pose frame=''>0 0 0 0 -0 0</pose>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>