Demohand a with ur10e updated (#187)

* Final calibration and control tuning after hand upgrade process

* adding grasp controller to demohand_A

* adding coupled calibration

* setting for right hand

* fixing format

* Update demo_l.py

* Update demo_l.py

* partial calibration

* Calibration correction after fix.

* Calibration and control tunes updated

* Final calibration, tuning and demos after hand flesh update

* Update sr_edc_default_controllers.launch

Co-authored-by: Juan <[email protected]>
Co-authored-by: carebare47 <[email protected]>
Co-authored-by: mikramarc <[email protected]>
Co-authored-by: Beatriz Leon <[email protected]>
Co-authored-by: giusebar <[email protected]>
Co-authored-by: David Bazso <[email protected]>
Co-authored-by: ToivoS <toivo@shadowrobot>

Author: 8 people

sr_ethercat_hand_config/calibrations/rh/calibration.yaml

@@ -1,52 +1,52 @@
 sr_calibrations: [
-["FFJ1", [[2929.0, 0.0], [2189.0, 22.5], [1554.0, 45.0], [859.0, 67.5], [416.0, 90.0]]], 
-["FFJ2", [[3027.0, 0.0], [2814.0, 22.5], [2359.0, 45.0], [1986.0, 67.5], [1563.0, 90.0]]], 
-["FFJ3", [[1471.0, 0.0], [1750.0, 22.5], [2084.0, 45.0], [2371.0, 67.5], [2605.0, 90.0]]], 
-["FFJ4", [[2365.0, -20.0], [2037.0, -10.0], [1711.0, 0.0], [1364.0, 10.0], [1119.0, 20.0]]], 
-["MFJ1", [[3234.0, 0.0], [2565.0, 22.5], [1768.0, 45.0], [928.0, 67.5], [368.0, 90.0]]], 
-["MFJ2", [[2802.0, 0.0], [2511.0, 22.5], [2151.0, 45.0], [1792.0, 67.5], [1458.0, 90.0]]], 
-["MFJ3", [[1679.0, 0.0], [1911.0, 22.5], [2164.0, 45.0], [2392.0, 67.5], [2571.0, 90.0]]], 
-["MFJ4", [[2007.0, -20.0], [1614.0, -10.0], [1266.0, 0.0], [897.0, 10.0], [599.0, 20.0]]], 
-["RFJ1", [[3126.0, 0.0], [2382.0, 22.5], [1609.0, 45.0], [927.0, 67.5], [450.0, 90.0]]], 
-["RFJ2", [[2837.0, 0.0], [2605.0, 22.5], [2288.0, 45.0], [1936.0, 67.5], [1570.0, 90.0]]], 
-["RFJ3", [[1523.0, 0.0], [1785.0, 22.5], [2080.0, 45.0], [2364.0, 67.5], [2603.0, 90.0]]], 
-["RFJ4", [[1114.0, -20.0], [1442.0, -10.0], [1799.0, 0.0], [2136.0, 10.0], [2470.0, 20.0]]], 
-["LFJ1", [[3142.0, 0.0], [2431.0, 22.5], [1899.0, 45.0], [1309.0, 67.5], [808.0, 90.0]]], 
-["LFJ2", [[2907.0, 0.0], [2663.0, 22.5], [2313.0, 45.0], [1896.0, 67.5], [1481.0, 90.0]]], 
-["LFJ3", [[1756.0, 0.0], [2012.0, 22.5], [2303.0, 45.0], [2546.0, 67.5], [2698.0, 90.0]]], 
-["LFJ4", [[1537.0, -20.0], [1875.0, -10.0], [2200.0, 0.0], [2548.0, 10.0], [2864.0, 20.0]]], 
-["LFJ5", [[1667.0, 0.0], [2162.0, 22.5], [2807.0, 45.0], [3913.0, 67.5]]], 
-["THJ3", [[1450.0, -15.0], [2132.0, 0.0], [2543.0, 15.0]]], 
-["THJ4", [[1661.0, 0.0], [1955.0, 22.5], [2232.0, 45.0], [2503.0, 67.5]]], 
-["THJ5", [[467.0, -60.0], [707.0, -45.0], [942.0, -30.0], [1279.0, -15.0], [1591.0, 0.0], [1951.0, 15.0], [2329.0, 30.0], [2609.0, 45.0], [2896.0, 60.0]]], 
-["WRJ1", [[1033.0, -45.0], [865.0, -22.5], [724.0, 0.0], [669.0, 15.0], [617.0, 30.0]]], 
-["WRJ2", [[2833.0, -30.0], [1269.0, 0.0], [665.0, 10.0]]], 
+["FFJ1", [[3102.0, 0.0], [2244.0, 22.5], [1458.0, 45.0], [741.0, 67.5], [262.0, 90.0]]], 
+["FFJ2", [[3338.0, 0.0], [3192.0, 22.5], [2726.0, 45.0], [2195.0, 67.5], [1652.0, 90.0]]], 
+["FFJ3", [[1408.0, 0.0], [1910.0, 22.5], [2400.0, 45.0], [2819.0, 67.5], [3160.0, 90.0]]], 
+["FFJ4", [[827.0, -20.0], [1530.0, -10.0], [1870.0, 0.0], [1968.0, 10.0], [2023.0, 20.0]]], 
+["MFJ1", [[3206.0, 0.0], [2418.0, 22.5], [1695.0, 45.0], [961.0, 67.5], [526.0, 90.0]]], 
+["MFJ2", [[3232.0, 0.0], [2968.0, 22.5], [2549.0, 45.0], [2143.0, 67.5], [1670.0, 90.0]]], 
+["MFJ3", [[1645.0, 0.0], [2108.0, 22.5], [2555.0, 45.0], [2929.0, 67.5], [3175.0, 90.0]]], 
+["MFJ4", [[3291.0, -20.0], [2655.0, -10.0], [2220.0, 0.0], [2076.0, 10.0], [2011.0, 20.0]]], 
+["RFJ1", [[3099.0, 0.0], [2342.0, 22.5], [1505.0, 45.0], [887.0, 67.5], [403.0, 90.0]]], 
+["RFJ2", [[3110.0, 0.0], [2897.0, 22.5], [2500.0, 45.0], [2063.0, 67.5], [1570.0, 90.0]]], 
+["RFJ3", [[1713.0, 0.0], [2155.0, 22.5], [2556.0, 45.0], [2882.0, 67.5], [3084.0, 90.0]]], 
+["RFJ4", [[2033.0, -20.0], [1964.0, -10.0], [1843.0, 0.0], [1469.0, 10.0], [940.0, 20.0]]], 
+["LFJ1", [[3262.0, 0.0], [2584.0, 22.5], [1752.0, 45.0], [1118.0, 67.5], [606.0, 90.0]]], 
+["LFJ2", [[3146.0, 0.0], [2950.0, 22.5], [2482.0, 45.0], [1966.0, 67.5], [1512.0, 90.0]]], 
+["LFJ3", [[1703.0, 0.0], [2207.0, 22.5], [2675.0, 45.0], [3030.0, 67.5], [3186.0, 90.0]]], 
+["LFJ4", [[2044.0, -20.0], [2000.0, -10.0], [1826.0, 0.0], [1543.0, 10.0], [1158.0, 20.0]]], 
+["LFJ5", [[3035.0, 0.0], [2282.0, 22.5], [1805.0, 45.0], [1185.0, 67.5]]], 
+["THJ3", [[1348.0, -15.0], [2353.0, 0.0], [2737.0, 15.0]]], 
+["THJ4", [[1647.0, 0.0], [1978.0, 22.5], [2323.0, 45.0], [2531.0, 67.5]]], 
+["THJ5", [[357.0, -60.0], [674.0, -45.0], [941.0, -30.0], [1277.0, -15.0], [1535.0, 0.0], [1847.0, 15.0], [2318.0, 30.0], [2634.0, 45.0], [2942.0, 60.0]]], 
+["WRJ1", [[2464.0, -45.0], [2361.0, -22.5], [2162.0, 0.0], [1996.0, 15.0], [1853.0, 30.0]]], 
+["WRJ2", [[2796.0, -30.0], [1052.0, 0.0], [326.0, 10.0]]], 
 ]
 
 sr_calibrations_coupled: [
-[["THJ1", "THJ2"], [[[2613.0, 2296.0], 0.0, 40.0], 
-                    [[2598.0, 2160.0], 0.0, 20.0], 
-                    [[2581.0, 1959.0], 0.0, 0.0], 
-                    [[2565.0, 1795.0], 0.0, -20.0], 
-                    [[2552.0, 1668.0], 0.0, -40.0], 
-                    [[2189.0, 2281.0], 22.5, 40.0], 
-                    [[2179.0, 2122.0], 22.5, 20.0], 
-                    [[2162.0, 1936.0], 22.5, 0.0], 
-                    [[2147.0, 1771.0], 22.5, -20.0], 
-                    [[2132.0, 1642.0], 22.5, -40.0], 
-                    [[1732.0, 2258.0], 45.0, 40.0], 
-                    [[1704.0, 2092.0], 45.0, 20.0], 
-                    [[1685.0, 1907.0], 45.0, 0.0], 
-                    [[1668.0, 1737.0], 45.0, -20.0], 
-                    [[1656.0, 1613.0], 45.0, -40.0], 
-                    [[1361.0, 2231.0], 67.5, 40.0], 
-                    [[1347.0, 2069.0], 67.5, 20.0], 
-                    [[1329.0, 1889.0], 67.5, 0.0], 
-                    [[1312.0, 1712.0], 67.5, -20.0], 
-                    [[1302.0, 1589.0], 67.5, -40.0], 
-                    [[1082.0, 2219.0], 90.0, 40.0], 
-                    [[1068.0, 2069.0], 90.0, 20.0], 
-                    [[1050.0, 1868.0], 90.0, 0.0], 
-                    [[1039.0, 1697.0], 90.0, -20.0], 
-                    [[1025.0, 1577.0], 90.0, -40.0]]]
+[["THJ1", "THJ2"], [[[2776.0, 2386.0], 0.0, 40.0], 
+                    [[2744.0, 2204.0], 0.0, 20.0], 
+                    [[2712.0, 1994.0], 0.0, 0.0], 
+                    [[2688.0, 1799.0], 0.0, -20.0], 
+                    [[2662.0, 1649.0], 0.0, -40.0], 
+                    [[2384.0, 2338.0], 22.5, 40.0], 
+                    [[2345.0, 2193.0], 22.5, 20.0], 
+                    [[2313.0, 1987.0], 22.5, 0.0], 
+                    [[2288.0, 1784.0], 22.5, -20.0], 
+                    [[2300.0, 1630.0], 22.5, -40.0], 
+                    [[1980.0, 2315.0], 45.0, 40.0], 
+                    [[1948.0, 2165.0], 45.0, 20.0], 
+                    [[1900.0, 1969.0], 45.0, 0.0], 
+                    [[1888.0, 1765.0], 45.0, -20.0], 
+                    [[1873.0, 1608.0], 45.0, -40.0], 
+                    [[1484.0, 2253.0], 67.5, 40.0], 
+                    [[1466.0, 2144.0], 67.5, 20.0], 
+                    [[1429.0, 1963.0], 67.5, 0.0], 
+                    [[1408.0, 1758.0], 67.5, -20.0], 
+                    [[1394.0, 1584.0], 67.5, -40.0], 
+                    [[1135.0, 2295.0], 90.0, 40.0], 
+                    [[1113.0, 2125.0], 90.0, 20.0], 
+                    [[1104.0, 1917.0], 90.0, 0.0], 
+                    [[1088.0, 1717.0], 90.0, -20.0], 
+                    [[1075.0, 1568.0], 90.0, -40.0]]]
 ]

sr_ethercat_hand_config/controls/host/rh/sr_edc_grasp_controllers_PWM.yaml

@@ -0,0 +1,165 @@
+sh_rh_grasp_controller:
+  gains:
+    rh_FFJ0:
+      d: 0.0
+      i: 0.0
+      i_clamp: 0.0
+      p: -4900.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_FFJ3:
+      d: 290.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 6300.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_FFJ4:
+      d: -270.0
+      i: 0.0
+      i_clamp: 0.0
+      p: -6700.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 400.0
+    rh_LFJ0:
+      d: 0.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 4300.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_LFJ3:
+      d: -290.0
+      i: 0.0
+      i_clamp: 0.0
+      p: -5900.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_LFJ4:
+      d: 270.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 6900.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 400.0
+    rh_LFJ5:
+      d: 270.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 6300.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 500.0
+    rh_MFJ0:
+      d: 0.0
+      i: 0.0
+      i_clamp: 0.0
+      p: -4400.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_MFJ3:
+      d: 300.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 5500.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_MFJ4:
+      d: -270.0
+      i: 0.0
+      i_clamp: 0.0
+      p: -6700.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 400.0
+    rh_RFJ0:
+      d: 0.0
+      i: 0.0
+      i_clamp: 0.0
+      p: -4300.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_RFJ3:
+      d: 200.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 4300.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_RFJ4:
+      d: -270.0
+      i: 0.0
+      i_clamp: 0.0
+      p: -6100.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 400.0
+    rh_THJ1:
+      d: 270.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 5300.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_THJ2:
+      d: 270.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 5700.0
+      position_deadband: 0.002
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_THJ3:
+      d: -370.0
+      i: 0.0
+      i_clamp: 0.0
+      p: -7900.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 400.0
+    rh_THJ4:
+      d: 270.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 5100.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 500.0
+    rh_THJ5:
+      d: 330.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 5900.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 500.0
+    rh_WRJ1:
+      d: 270.0
+      i: 0.0
+      i_clamp: 0.0
+      p: 6700.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 600.0
+    rh_WRJ2:
+      d: -120.0
+      i: 0.0
+      i_clamp: 0.0
+      p: -8100.0
+      position_deadband: 0.003
+      friction_deadband: 2000.0
+      max_force: 600.0
+      
+  type: sr_grasp_controllers/SrhGraspController
+  joints: [rh_FFJ0, rh_FFJ3, rh_FFJ4, rh_LFJ0, rh_LFJ3, rh_LFJ4, rh_LFJ5, rh_MFJ0, rh_MFJ3, rh_MFJ4, rh_RFJ0, rh_RFJ3, rh_RFJ4, rh_THJ1, rh_THJ2, rh_THJ3, rh_THJ4, rh_THJ5, rh_WRJ1, rh_WRJ2]

sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers_PWM.yaml

@@ -25,13 +25,13 @@ sh_rh_ffj3_position_controller:
 sh_rh_ffj4_position_controller:
   joint: rh_FFJ4
   pid:
-    d: 310.0
+    d: -310.0
     deadband: 0.02
     friction_deadband: 2000.0
     i: 0.0
     i_clamp: 0.0
     max_force: 500.0
-    p: 7100.0
+    p: -7100.0
     position_deadband: 0.003
   type: sr_mechanism_controllers/SrhJointPositionController
 sh_rh_lfj0_position_controller:
@@ -60,25 +60,25 @@ sh_rh_lfj3_position_controller:
 sh_rh_lfj4_position_controller:
   joint: rh_LFJ4
   pid:
-    d: -310.0
+    d: 310.0
     deadband: 0
     friction_deadband: 2000.0
     i: 0.0
     i_clamp: 0.0
     max_force: 500.0
-    p: -7100.0
+    p: 7100.0
     position_deadband: 0.003
   type: sr_mechanism_controllers/SrhJointPositionController
 sh_rh_lfj5_position_controller:
   joint: rh_LFJ5
   pid:
-    d: -290.0
+    d: 290.0
     deadband: 0.0
     friction_deadband: 2000.0
     i: 0.0
     i_clamp: 0.0
     max_force: 500.0
-    p: -6900.0
+    p: 6900.0
     position_deadband: 0.003
   type: sr_mechanism_controllers/SrhJointPositionController
 sh_rh_mfj0_position_controller:
@@ -95,13 +95,13 @@ sh_rh_mfj0_position_controller:
 sh_rh_mfj3_position_controller:
   joint: rh_MFJ3
   pid:
-    d: -280.0
+    d: 280.0
     deadband: 0.0
     friction_deadband: 2000.0
     i: 0.0
     i_clamp: 0.0
     max_force: 600.0
-    p: -5900.0
+    p: 5900.0
     position_deadband: 0.002
   type: sr_mechanism_controllers/SrhJointPositionController
 sh_rh_mfj4_position_controller:
@@ -130,25 +130,25 @@ sh_rh_rfj0_position_controller:
 sh_rh_rfj3_position_controller:
   joint: rh_RFJ3
   pid:
-    d: -270.0
+    d: 270.0
     deadband: 0.0
     friction_deadband: 2000.0
     i: 0.0
     i_clamp: 0.0
     max_force: 600.0
-    p: -5900.0
+    p: 5900.0
     position_deadband: 0.002
   type: sr_mechanism_controllers/SrhJointPositionController
 sh_rh_rfj4_position_controller:
   joint: rh_RFJ4
   pid:
-    d: 310.0
+    d: -310.0
     deadband: 0.0
     friction_deadband: 2000.0
     i: 0.0
     i_clamp: 0.0
     max_force: 500.0
-    p: 7100.0
+    p: -7100.0
     position_deadband: 0.003
   type: sr_mechanism_controllers/SrhJointPositionController
 sh_rh_thj1_position_controller:
@@ -178,13 +178,13 @@ sh_rh_thj2_position_controller:
 sh_rh_thj3_position_controller:
   joint: rh_THJ3
   pid:
-    d: 330.0
+    d: -330.0
     deadband: 0.0
     friction_deadband: 2000.0
     i: 0.0
     i_clamp: 0.0
     max_force: 400.0
-    p: 7300.0
+    p: -7300.0
     position_deadband: 0.003
   type: sr_mechanism_controllers/SrhJointPositionController
 sh_rh_thj4_position_controller: