Reorganize URDF packages and improve configurable gravity compensation - #28
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ZhuYaoHui1998 merged 3 commits intoAug 31, 2026
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…ontroller URDF package reorganization: - Remove obsolete packages urdf/00-arm-rs_asm-v3/ (old RS) and urdf/reBot-DevArm_fixend_description/ (old DM). Neither was referenced by any code outside the urdf/ directory. - Add urdf/DM/ with ReBot_Arm_DM.urdf featuring separated visual/collision meshes, multi-material colored visuals, and gripper finger definitions (prismatic joints with mimic coupling). - Add urdf/RS/ with ReBot_Arm_RS.urdf and organized mesh directories (visual/, shared/, mujoco_collision/). - Update urdf_path in config/rebotarm_dm.yaml and rebotarm_rs.yaml, plus tools/gravity_calibration/*.py references, to the new package paths. Mesh resolution fix: - _resolve_urdf() in robot_model.py returned a single package directory derived from the URDF path. This broke when a URDF mixed two mesh-path conventions: "../meshes/..." (relative to URDF dir) and "meshes/..." (relative to package root). - Now returns both the URDF directory and its parent as package_dirs so Pinocchio resolves either convention without per-URDF workarounds. - Apply the same fix to example/sim/visualizer.py. Gravity compensation controller enhancements: - Add tau_scale (per-joint gravity torque scaling) to correct model-vs- hardware mass/inertia bias. - Add transition_duration for smooth gain fade-in from stiff hold to compliant gravity-comp gains, preventing sudden stiffness loss at startup. - Add joint_direction (per-joint sign correction) for motor/URDF axis mismatches. - Add hold_kp/hold_kd for stiff position hold; end() now maintains the current pose with stiff gains + gravity feedforward instead of simply disconnecting the robot. - Add gravity_compensation config sections to both DM and RS YAML files with calibrated tau_scale values. - Update example scripts (9, 10) to use the new controller parameters. Config tuning: - Switch default hardware in rebotarm.yaml from DM to RS. - Tune POS_VEL pos_kp for joints 4-6 in rebotarm_dm.yaml (50 -> 70/60/60).
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Summary
This PR supersedes #27 and combines the URDF/package cleanup with the latest RS gravity-compensation work.
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