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Bimanual demohands a d changes #186

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merged 16 commits into from
Dec 2, 2020
Merged

Bimanual demohands a d changes #186

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03aac9c
Final calibration and control tuning after hand upgrade process
jlaforga Apr 26, 2019
3cebd20
adding grasp controller to demohand_A
Jul 25, 2019
59059c3
Merge pull request #131 from shadow-robot/demohand_A_adding_grasp_con…
mikramarc Jul 25, 2019
0875635
adding coupled calibration
mikramarc Oct 16, 2019
b0ce11a
setting for right hand
mikramarc Oct 16, 2019
aff5dc4
fixing format
mikramarc Oct 16, 2019
8050a4d
Update demo_l.py
Apr 23, 2020
f9f7f10
Update demo_l.py
Apr 23, 2020
b5a7e18
Merge pull request #168 from shadow-robot/demohand_A_coupled
giusebar Apr 28, 2020
348480f
partial calibration
davidbazso Nov 25, 2020
245982c
Calibration correction after fix.
davidbazso Nov 26, 2020
14e1f67
Calibration and control tunes updated
jlaforga Nov 30, 2020
8d5640c
Final calibration, tuning and demos after hand flesh update
jlaforga Nov 30, 2020
10617d7
Merge branch 'demohand_A' into bimanual_demohands_A_D_changes
Dec 2, 2020
4a652e3
Update sr_edc_default_controllers.launch
ToivoS Dec 2, 2020
5eea761
Update sr_rhand.launch
ToivoS Dec 2, 2020
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36 changes: 18 additions & 18 deletions sr_ethercat_hand_config/calibrations/rh/calibration.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,24 +1,24 @@
sr_calibrations: [
["FFJ1", [[3115.0, 0.0], [2408.0, 22.5], [1657.0, 45.0], [946.0, 67.5], [350.0, 90.0]]],
["FFJ2", [[3324.0, 0.0], [3128.0, 22.5], [2656.0, 45.0], [1987.0, 67.5], [1529.0, 90.0]]],
["FFJ3", [[1396.0, 0.0], [1935.0, 22.5], [2365.0, 45.0], [2818.0, 67.5], [3152.0, 90.0]]],
["FFJ4", [[724.0, -20.0], [1477.0, -10.0], [1854.0, 0.0], [1987.0, 10.0], [2044.0, 20.0]]],
["MFJ1", [[3199.0, 0.0], [2583.0, 22.5], [1828.0, 45.0], [1124.0, 67.5], [638.0, 90.0]]],
["MFJ2", [[3120.0, 0.0], [2886.0, 22.5], [2510.0, 45.0], [2095.0, 67.5], [1675.0, 90.0]]],
["MFJ3", [[1645.0, 0.0], [2092.0, 22.5], [2579.0, 45.0], [2914.0, 67.5], [3175.0, 90.0]]],
["MFJ4", [[3407.0, -20.0], [2667.0, -10.0], [2224.0, 0.0], [2078.0, 10.0], [2017.0, 20.0]]],
["RFJ1", [[3100.0, 0.0], [2283.0, 22.5], [1554.0, 45.0], [908.0, 67.5], [495.0, 90.0]]],
["RFJ2", [[3075.0, 0.0], [2835.0, 22.5], [2448.0, 45.0], [2019.0, 67.5], [1604.0, 90.0]]],
["RFJ3", [[1689.0, 0.0], [2156.0, 22.5], [2532.0, 45.0], [2852.0, 67.5], [3077.0, 90.0]]],
["RFJ4", [[2039.0, -20.0], [1958.0, -10.0], [1802.0, 0.0], [1435.0, 10.0], [940.0, 20.0]]],
["LFJ1", [[3242.0, 0.0], [2570.0, 22.5], [1866.0, 45.0], [1144.0, 67.5], [632.0, 90.0]]],
["LFJ2", [[3131.0, 0.0], [2890.0, 22.5], [2421.0, 45.0], [1926.0, 67.5], [1560.0, 90.0]]],
["LFJ3", [[1702.0, 0.0], [2223.0, 22.5], [2683.0, 45.0], [2996.0, 67.5], [3186.0, 90.0]]],
["LFJ4", [[2052.0, -20.0], [1994.0, -10.0], [1870.0, 0.0], [1540.0, 10.0], [1117.0, 20.0]]],
["LFJ5", [[3024.0, 0.0], [2282.0, 22.5], [1805.0, 45.0], [1185.0, 67.5]]],
["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", [[390.0, -60.0], [660.0, -45.0], [922.0, -30.0], [1244.0, -15.0], [1505.0, 0.0], [1841.0, 15.0], [2309.0, 30.0], [2619.0, 45.0], [2920.0, 60.0]]],
["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]]],
]
Expand Down
78 changes: 39 additions & 39 deletions sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers_PWM.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
sh_rh_ffj0_position_controller:
joint: rh_FFJ0
pid:
d: 0.0
d: -50.0
deadband: 0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: -3700.0
p: -7100.0
position_deadband: 0.002
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_ffj3_position_controller:
Expand All @@ -19,36 +19,36 @@ sh_rh_ffj3_position_controller:
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: 6500.0
p: 5900.0
position_deadband: 0.002
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_ffj4_position_controller:
joint: rh_FFJ4
pid:
d: -350.0
d: -310.0
deadband: 0.02
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 400.0
p: -7900.0
max_force: 500.0
p: -7100.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_lfj0_position_controller:
joint: rh_LFJ0
pid:
d: 0.0
d: 50.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: 3900.0
p: 7100.0
position_deadband: 0.002
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_lfj3_position_controller:
joint: rh_LFJ3
pid:
d: -290.0
d: -270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
Expand All @@ -60,19 +60,19 @@ sh_rh_lfj3_position_controller:
sh_rh_lfj4_position_controller:
joint: rh_LFJ4
pid:
d: 350.0
d: 310.0
deadband: 0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 400.0
p: 8100.0
max_force: 500.0
p: 7100.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_lfj5_position_controller:
joint: rh_LFJ5
pid:
d: 270.0
d: 290.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
Expand All @@ -84,53 +84,53 @@ sh_rh_lfj5_position_controller:
sh_rh_mfj0_position_controller:
joint: rh_MFJ0
pid:
d: 0.0
d: -50.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: -4100.0
p: -7100.0
position_deadband: 0.002
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_mfj3_position_controller:
joint: rh_MFJ3
pid:
d: 290.0
d: 280.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: 6300.0
p: 5900.0
position_deadband: 0.002
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_mfj4_position_controller:
joint: rh_MFJ4
pid:
d: -370.0
d: -310.0
deadband: 0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 400.0
p: -8100.0
max_force: 500.0
p: -7100.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_rfj0_position_controller:
joint: rh_RFJ0
pid:
d: 0.0
d: -50.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 600.0
p: -4700.0
p: -7100.0
position_deadband: 0.002
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_rfj3_position_controller:
joint: rh_RFJ3
pid:
d: 290.0
d: 270.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
Expand All @@ -142,13 +142,13 @@ sh_rh_rfj3_position_controller:
sh_rh_rfj4_position_controller:
joint: rh_RFJ4
pid:
d: -350.0
d: -310.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 400.0
p: -7700.0
max_force: 500.0
p: -7100.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_thj1_position_controller:
Expand All @@ -160,7 +160,7 @@ sh_rh_thj1_position_controller:
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: 5700.0
p: 5500.0
position_deadband: 0.002
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_thj2_position_controller:
Expand All @@ -172,31 +172,31 @@ sh_rh_thj2_position_controller:
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: 5900.0
p: 6100.0
position_deadband: 0.002
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_thj3_position_controller:
joint: rh_THJ3
pid:
d: -390.0
d: -330.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: -7900.0
max_force: 400.0
p: -7300.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_thj4_position_controller:
joint: rh_THJ4
pid:
d: 320.0
d: 310.0
deadband: 0.0
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: 5900.0
p: 5300.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_thj5_position_controller:
Expand All @@ -207,8 +207,8 @@ sh_rh_thj5_position_controller:
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: 6100.0
max_force: 600.0
p: 5500.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_wrj1_position_controller:
Expand All @@ -219,8 +219,8 @@ sh_rh_wrj1_position_controller:
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: 7700.0
max_force: 600.0
p: 7100.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
sh_rh_wrj2_position_controller:
Expand All @@ -231,7 +231,7 @@ sh_rh_wrj2_position_controller:
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
p: -9400.0
max_force: 600.0
p: -8900.0
position_deadband: 0.003
type: sr_mechanism_controllers/SrhJointPositionController
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