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Fixed all licence issues. (#204)
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‎.circleci/config.yml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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version: 2
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jobs:
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build:

‎aws.yml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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settings:
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machine_type: medium
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ubuntu:

‎sr_config/package.xml

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<!--
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Copyright 2022 Shadow Robot Company Ltd.
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This program is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by the Free
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Software Foundation version 2 of the License.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details.
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You should have received a copy of the GNU General Public License along
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with this program. If not, see <http://www.gnu.org/licenses/>.
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-->
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<package>
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<name>sr_config</name>
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<version>1.4.0</version>

‎sr_ethercat_hand_config/calibrations/lh/calibration.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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sr_calibrations: [
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["FFJ1", [[2929.0, 0.0], [2189.0, 22.5], [1554.0, 45.0], [859.0, 67.5], [416.0, 90.0]]],
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["FFJ2", [[3027.0, 0.0], [2814.0, 22.5], [2359.0, 45.0], [1986.0, 67.5], [1563.0, 90.0]]],

‎sr_ethercat_hand_config/calibrations/lh/pressure_calibration.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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{'sr_pressure_calibrations': [
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# Each joint has 2 pressure sensors 0 and 1. So we have a row per joint/sensor combination.
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# ["<joint_name>_<sensor>", [[<raw sensor value>, <calibrated millibar pressure>], [<raw sensor value>, <calibrated millibar pressure>]]],

‎sr_ethercat_hand_config/calibrations/lh/pressure_calibration_raw.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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# Use this file to see raw values from the pressure sensors.
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#
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{'sr_pressure_calibrations': [

‎sr_ethercat_hand_config/calibrations/rh/calibration.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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sr_calibrations: [
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["FFJ1", [[2929.0, 0.0], [2189.0, 22.5], [1554.0, 45.0], [859.0, 67.5], [416.0, 90.0]]],
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["FFJ2", [[3027.0, 0.0], [2814.0, 22.5], [2359.0, 45.0], [1986.0, 67.5], [1563.0, 90.0]]],

‎sr_ethercat_hand_config/calibrations/rh/pressure_calibration.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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{'sr_pressure_calibrations': [
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# Each joint has 2 pressure sensors 0 and 1. So we have a row per joint/sensor combination.
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# ["<joint_name>_<sensor>", [[<raw sensor value>, <calibrated millibar pressure>], [<raw sensor value>, <calibrated millibar pressure>]]],

‎sr_ethercat_hand_config/calibrations/rh/pressure_calibration_raw.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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# Use this file to see raw values from the pressure sensors.
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#
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{'sr_pressure_calibrations': [

‎sr_ethercat_hand_config/controls/friction_compensation.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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sr_friction_map: [
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#["LFJ5", 1, [[0.0, 0.0], [1.0, 0.0]]],
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#["LFJ5", -1, [[0.0, -80.0], [1.0, -80.0]]]

‎sr_ethercat_hand_config/controls/host/lh/sr_edc_calibration_controllers.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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# Shadow Hand Defines
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‎sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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# First Finger (Index finger)
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sh_lh_ffj0_effort_controller:
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type: sr_mechanism_controllers/SrhEffortJointController

‎sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers_PWM.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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# First Finger (Index finger)
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sh_lh_ffj0_effort_controller:
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type: sr_mechanism_controllers/SrhEffortJointController

‎sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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sh_lh_ffj0_position_controller:
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joint: lh_FFJ0
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pid:

‎sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers_PWM.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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sh_lh_ffj0_position_controller:
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joint: lh_FFJ0
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pid:

‎sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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# Shadow Hand Defines .. Need Fixing as PID values are not correct
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sh_lh_ffj0_velocity_controller:

‎sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers_PWM.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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# Shadow Hand Defines .. Need Fixing as PID values are not correct
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sh_lh_ffj0_velocity_controller:

‎sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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sh_lh_ffj0_mixed_position_velocity_controller:
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joint: lh_FFJ0
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motor_min_force_threshold: 40

‎sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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sh_lh_ffj0_mixed_position_velocity_controller:
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joint: lh_FFJ0
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motor_min_force_threshold: 40

‎sr_ethercat_hand_config/controls/host/rh/sr_edc_calibration_controllers.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
114

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# Shadow Hand Defines
316

‎sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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# First Finger (Index finger)
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sh_rh_ffj0_effort_controller:
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type: sr_mechanism_controllers/SrhEffortJointController

‎sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers_PWM.yaml

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# Copyright 2022 Shadow Robot Company Ltd.
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#
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# This program is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the Free
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# Software Foundation version 2 of the License.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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# more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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# First Finger (Index finger)
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sh_rh_ffj0_effort_controller:
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type: sr_mechanism_controllers/SrhEffortJointController

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