From 38dc50c38b9eda3031f67ec7c34004f7423a6df6 Mon Sep 17 00:00:00 2001 From: Dan Zimmerman Date: Fri, 31 Mar 2023 20:22:53 -0400 Subject: [PATCH 1/8] Set joint dyn properties, optionally from file --- urdf/inc/ur_common.xacro | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/urdf/inc/ur_common.xacro b/urdf/inc/ur_common.xacro index a763e78d..cb73992b 100644 --- a/urdf/inc/ur_common.xacro +++ b/urdf/inc/ur_common.xacro @@ -41,7 +41,7 @@ - + @@ -49,6 +49,7 @@ + @@ -57,6 +58,7 @@ + @@ -84,6 +86,21 @@ + + + + + + + + + + + + + + + From c89455345997f3bd3d44b30df84a926a4a7a2663 Mon Sep 17 00:00:00 2001 From: Dan Zimmerman Date: Sat, 1 Apr 2023 13:43:36 -0400 Subject: [PATCH 2/8] Pass joint dynamics as default-empty dict() --- config/test_joint_dyn.yaml | 19 +++++++++++++++++++ urdf/inc/ur_common.xacro | 6 +++--- urdf/ur.urdf.xacro | 4 ++++ urdf/ur_macro.xacro | 14 ++++++++------ 4 files changed, 34 insertions(+), 9 deletions(-) create mode 100644 config/test_joint_dyn.yaml diff --git a/config/test_joint_dyn.yaml b/config/test_joint_dyn.yaml new file mode 100644 index 00000000..2c1c8378 --- /dev/null +++ b/config/test_joint_dyn.yaml @@ -0,0 +1,19 @@ +joint_dynamics: + shoulder_pan_joint: + damping: 0.123 + friction: 1.234 + shoulder_lift_joint: + damping: 0.234 + friction: 2.345 + elbow_joint: + damping: 0.345 + friction: 3.456 + wrist_1_joint: + damping: 0.456 + friction: 4.567 + wrist_2_joint: + damping: 0.567 + friction: 5.678 + wrist_3_joint: + damping: 0.678 + friction: 6.789 \ No newline at end of file diff --git a/urdf/inc/ur_common.xacro b/urdf/inc/ur_common.xacro index cb73992b..a2a35fb6 100644 --- a/urdf/inc/ur_common.xacro +++ b/urdf/inc/ur_common.xacro @@ -41,7 +41,7 @@ - + @@ -49,7 +49,7 @@ - + @@ -58,7 +58,7 @@ - + diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro index e2f8b2e7..5bc4d37b 100644 --- a/urdf/ur.urdf.xacro +++ b/urdf/ur.urdf.xacro @@ -53,6 +53,8 @@ + + + diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro index 7e43bcd7..96778e5c 100644 --- a/urdf/ur_macro.xacro +++ b/urdf/ur_macro.xacro @@ -62,6 +62,7 @@ kinematics_parameters_file physical_parameters_file visual_parameters_file + joint_dynamics:=${dict()} transmission_hw_interface:=hardware_interface/PositionJointInterface safety_limits:=false safety_pos_margin:=0.15 @@ -96,6 +97,7 @@ kinematics_parameters_file="${kinematics_parameters_file}" physical_parameters_file="${physical_parameters_file}" visual_parameters_file="${visual_parameters_file}" + joint_dynamics="${joint_dynamics}" force_abs_paths="${sim_gazebo or sim_ignition}"/> @@ -288,7 +290,7 @@ - + @@ -300,7 +302,7 @@ - + @@ -312,7 +314,7 @@ - + @@ -324,7 +326,7 @@ - + @@ -336,7 +338,7 @@ - + @@ -348,7 +350,7 @@ - + From e974b80a1070e13a8e479e8d493a78183072a286 Mon Sep 17 00:00:00 2001 From: Dan Zimmerman Date: Sat, 1 Apr 2023 13:45:00 -0400 Subject: [PATCH 3/8] Revert test dynamics specification --- urdf/ur.urdf.xacro | 3 --- 1 file changed, 3 deletions(-) diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro index 5bc4d37b..33c4937a 100644 --- a/urdf/ur.urdf.xacro +++ b/urdf/ur.urdf.xacro @@ -53,8 +53,6 @@ - - Date: Thu, 6 Apr 2023 07:24:22 -0400 Subject: [PATCH 4/8] Mimic initial_positions with dynamics defaults --- ..._dyn.yaml => joint_dynamics_defaults.yaml} | 0 urdf/inc/ur_common.xacro | 28 +++++++++---------- urdf/ur.urdf.xacro | 5 +++- urdf/ur_macro.xacro | 2 +- 4 files changed, 19 insertions(+), 16 deletions(-) rename config/{test_joint_dyn.yaml => joint_dynamics_defaults.yaml} (100%) diff --git a/config/test_joint_dyn.yaml b/config/joint_dynamics_defaults.yaml similarity index 100% rename from config/test_joint_dyn.yaml rename to config/joint_dynamics_defaults.yaml diff --git a/urdf/inc/ur_common.xacro b/urdf/inc/ur_common.xacro index a2a35fb6..5d78b601 100644 --- a/urdf/inc/ur_common.xacro +++ b/urdf/inc/ur_common.xacro @@ -41,7 +41,7 @@ - + @@ -58,7 +58,7 @@ - + @@ -88,18 +88,18 @@ - - - - - - - - - - - - + + + + + + + + + + + + diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro index 33c4937a..f10c96b6 100644 --- a/urdf/ur.urdf.xacro +++ b/urdf/ur.urdf.xacro @@ -47,10 +47,12 @@ + + - + @@ -73,6 +75,7 @@ sim_ignition="$(arg sim_ignition)" headless_mode="$(arg headless_mode)" initial_positions="${xacro.load_yaml(initial_positions_file)}" + joint_dynamics="${xacro.load_yaml(joint_dynamics_defaults_file)}" use_tool_communication="$(arg use_tool_communication)" tool_voltage="$(arg tool_voltage)" tool_parity="$(arg tool_parity)" diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro index 96778e5c..db0e5f6a 100644 --- a/urdf/ur_macro.xacro +++ b/urdf/ur_macro.xacro @@ -62,7 +62,6 @@ kinematics_parameters_file physical_parameters_file visual_parameters_file - joint_dynamics:=${dict()} transmission_hw_interface:=hardware_interface/PositionJointInterface safety_limits:=false safety_pos_margin:=0.15 @@ -73,6 +72,7 @@ sim_ignition:=false headless_mode:=false initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)} + joint_dynamics:=${dict(shoulder_pan_joint=dict(damping=0.0, friction=0.0), shoulder_lift_joint=dict(damping=0.0, friction=0.0), elbow_joint=dict(damping=0.0, friction=0.0), wrist_1_joint=dict(damping=0.0, friction=0.0), wrist_2_joint=dict(damping=0.0, friction=0.0), wrist_3_joint=dict(damping=0.0, friction=0.0))} use_tool_communication:=false tool_voltage:=0 tool_parity:=0 From 324b390f2d35ef13ee96ee5b045bb4449ef69c91 Mon Sep 17 00:00:00 2001 From: Dan Zimmerman Date: Fri, 7 Apr 2023 07:04:57 -0400 Subject: [PATCH 5/8] Default joints to zero, retain differentiated example --- config/joint_dynamics_defaults.yaml | 24 +++++++++++------------ test/joint_dynamics_defaults_example.yaml | 19 ++++++++++++++++++ 2 files changed, 31 insertions(+), 12 deletions(-) create mode 100644 test/joint_dynamics_defaults_example.yaml diff --git a/config/joint_dynamics_defaults.yaml b/config/joint_dynamics_defaults.yaml index 2c1c8378..60203b9e 100644 --- a/config/joint_dynamics_defaults.yaml +++ b/config/joint_dynamics_defaults.yaml @@ -1,19 +1,19 @@ joint_dynamics: shoulder_pan_joint: - damping: 0.123 - friction: 1.234 + damping: 0.0 + friction: 0.0 shoulder_lift_joint: - damping: 0.234 - friction: 2.345 + damping: 0.0 + friction: 0.0 elbow_joint: - damping: 0.345 - friction: 3.456 + damping: 0.0 + friction: 0.0 wrist_1_joint: - damping: 0.456 - friction: 4.567 + damping: 0.0 + friction: 0.0 wrist_2_joint: - damping: 0.567 - friction: 5.678 + damping: 0.0 + friction: 0.0 wrist_3_joint: - damping: 0.678 - friction: 6.789 \ No newline at end of file + damping: 0.0 + friction: 0.0 \ No newline at end of file diff --git a/test/joint_dynamics_defaults_example.yaml b/test/joint_dynamics_defaults_example.yaml new file mode 100644 index 00000000..2c1c8378 --- /dev/null +++ b/test/joint_dynamics_defaults_example.yaml @@ -0,0 +1,19 @@ +joint_dynamics: + shoulder_pan_joint: + damping: 0.123 + friction: 1.234 + shoulder_lift_joint: + damping: 0.234 + friction: 2.345 + elbow_joint: + damping: 0.345 + friction: 3.456 + wrist_1_joint: + damping: 0.456 + friction: 4.567 + wrist_2_joint: + damping: 0.567 + friction: 5.678 + wrist_3_joint: + damping: 0.678 + friction: 6.789 \ No newline at end of file From b4b1a2259ade1135764530d23835b7db2ee09344 Mon Sep 17 00:00:00 2001 From: Dan Zimmerman Date: Fri, 7 Apr 2023 07:13:21 -0400 Subject: [PATCH 6/8] Simplify file names --- .../{joint_dynamics_defaults.yaml => joint_dynamics.yaml} | 3 ++- ...ics_defaults_example.yaml => test_joint_dynamics.yaml} | 3 ++- urdf/ur.urdf.xacro | 8 ++++---- 3 files changed, 8 insertions(+), 6 deletions(-) rename config/{joint_dynamics_defaults.yaml => joint_dynamics.yaml} (94%) rename test/{joint_dynamics_defaults_example.yaml => test_joint_dynamics.yaml} (93%) diff --git a/config/joint_dynamics_defaults.yaml b/config/joint_dynamics.yaml similarity index 94% rename from config/joint_dynamics_defaults.yaml rename to config/joint_dynamics.yaml index 60203b9e..9b180d57 100644 --- a/config/joint_dynamics_defaults.yaml +++ b/config/joint_dynamics.yaml @@ -16,4 +16,5 @@ joint_dynamics: friction: 0.0 wrist_3_joint: damping: 0.0 - friction: 0.0 \ No newline at end of file + friction: 0.0 + \ No newline at end of file diff --git a/test/joint_dynamics_defaults_example.yaml b/test/test_joint_dynamics.yaml similarity index 93% rename from test/joint_dynamics_defaults_example.yaml rename to test/test_joint_dynamics.yaml index 2c1c8378..1790d8fe 100644 --- a/test/joint_dynamics_defaults_example.yaml +++ b/test/test_joint_dynamics.yaml @@ -16,4 +16,5 @@ joint_dynamics: friction: 5.678 wrist_3_joint: damping: 0.678 - friction: 6.789 \ No newline at end of file + friction: 6.789 + \ No newline at end of file diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro index f10c96b6..4fc8087f 100644 --- a/urdf/ur.urdf.xacro +++ b/urdf/ur.urdf.xacro @@ -47,12 +47,12 @@ - - + + - + @@ -75,7 +75,7 @@ sim_ignition="$(arg sim_ignition)" headless_mode="$(arg headless_mode)" initial_positions="${xacro.load_yaml(initial_positions_file)}" - joint_dynamics="${xacro.load_yaml(joint_dynamics_defaults_file)}" + joint_dynamics="${xacro.load_yaml(joint_dynamics_file)}" use_tool_communication="$(arg use_tool_communication)" tool_voltage="$(arg tool_voltage)" tool_parity="$(arg tool_parity)" From 1ef346a0597c7749d2bb4468b09cdf5a2fdacd2a Mon Sep 17 00:00:00 2001 From: Dan Zimmerman Date: Wed, 26 Jul 2023 08:37:57 -0400 Subject: [PATCH 7/8] Disable galactic build and deschedule others --- .github/workflows/binary-galactic.yml | 59 --------------------------- .github/workflows/binary-humble.yml | 6 +-- .github/workflows/binary-iron.yml | 6 +-- .github/workflows/binary-rolling.yml | 6 +-- 4 files changed, 9 insertions(+), 68 deletions(-) delete mode 100644 .github/workflows/binary-galactic.yml diff --git a/.github/workflows/binary-galactic.yml b/.github/workflows/binary-galactic.yml deleted file mode 100644 index 518e47ed..00000000 --- a/.github/workflows/binary-galactic.yml +++ /dev/null @@ -1,59 +0,0 @@ -name: Galactic Binary Build -on: - pull_request: - branches: - - galactic - push: - branches: - - galactic - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '53 5 * * *' - -jobs: - galactic_binary: - name: galactic binary build - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [galactic] - ROS_REPO: [main, testing] - env: - CCACHE_DIR: ${{ github.workspace }}/.ccache - BASEDIR: ${{ github.workspace }}/.work - CACHE_PREFIX: ${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }} - steps: - - uses: actions/checkout@v2 - with: - ref: galactic - # The target directory cache doesn't include the source directory because - # that comes from the checkout. See "prepare target_ws for cache" task below - - name: cache target_ws - if: ${{ ! matrix.CCOV }} - uses: pat-s/always-upload-cache@v2.1.5 - with: - path: ${{ env.BASEDIR }}/target_ws - key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }} - restore-keys: | - target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }} - - name: cache ccache - uses: pat-s/always-upload-cache@v2.1.5 - with: - path: ${{ env.CCACHE_DIR }} - key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} - restore-keys: | - ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }} - ccache-${{ env.CACHE_PREFIX }} - - uses: 'ros-industrial/industrial_ci@master' - env: - ROS_DISTRO: ${{ matrix.ROS_DISTRO }} - ROS_REPO: ${{ matrix.ROS_REPO }} - - - name: prepare target_ws for cache - if: ${{ always() && ! matrix.CCOV }} - run: | - du -sh ${{ env.BASEDIR }}/target_ws - sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete - sudo rm -rf ${{ env.BASEDIR }}/target_ws/src - du -sh ${{ env.BASEDIR }}/target_ws diff --git a/.github/workflows/binary-humble.yml b/.github/workflows/binary-humble.yml index 4e979f54..0b331971 100644 --- a/.github/workflows/binary-humble.yml +++ b/.github/workflows/binary-humble.yml @@ -6,9 +6,9 @@ on: push: branches: - ros2 - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '53 5 * * *' + # schedule: + # # Run every morning to detect flakiness and broken dependencies + # - cron: '53 5 * * *' jobs: humble_binary: diff --git a/.github/workflows/binary-iron.yml b/.github/workflows/binary-iron.yml index 9f0a25de..49bd26b3 100644 --- a/.github/workflows/binary-iron.yml +++ b/.github/workflows/binary-iron.yml @@ -10,9 +10,9 @@ on: push: branches: - iron - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '53 5 * * *' + # schedule: + # # Run every morning to detect flakiness and broken dependencies + # - cron: '53 5 * * *' jobs: iron_binary: diff --git a/.github/workflows/binary-rolling.yml b/.github/workflows/binary-rolling.yml index c38a1ca4..42ba5f95 100644 --- a/.github/workflows/binary-rolling.yml +++ b/.github/workflows/binary-rolling.yml @@ -6,9 +6,9 @@ on: push: branches: - ros2 - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '53 5 * * *' + # schedule: + # # Run every morning to detect flakiness and broken dependencies + # - cron: '53 5 * * *' jobs: rolling_binary: From 6e7c5242a320b9f355c9ede61ded82272c92ba37 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Thu, 5 Sep 2024 12:52:01 +0200 Subject: [PATCH 8/8] Fix default joint_dynamics dict when none provided --- urdf/ur_macro.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro index 806fd842..9b3052b3 100644 --- a/urdf/ur_macro.xacro +++ b/urdf/ur_macro.xacro @@ -64,7 +64,7 @@ safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20 - joint_dynamics:=${dict(shoulder_pan_joint=dict(damping=0.0, friction=0.0), shoulder_lift_joint=dict(damping=0.0, friction=0.0), elbow_joint=dict(damping=0.0, friction=0.0), wrist_1_joint=dict(damping=0.0, friction=0.0), wrist_2_joint=dict(damping=0.0, friction=0.0), wrist_3_joint=dict(damping=0.0, friction=0.0))} + joint_dynamics:=${dict(joint_dynamics=dict(shoulder_pan_joint=dict(damping=0.0, friction=0.0), shoulder_lift_joint=dict(damping=0.0, friction=0.0), elbow_joint=dict(damping=0.0, friction=0.0), wrist_1_joint=dict(damping=0.0, friction=0.0), wrist_2_joint=dict(damping=0.0, friction=0.0), wrist_3_joint=dict(damping=0.0, friction=0.0)))} force_abs_paths:=false ">