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Demohand a with ur10e updated #187

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merged 15 commits into from
Dec 4, 2020
Merged

Demohand a with ur10e updated #187

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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
ad3d47b
Merge branch 'demohand_A' into demohand_A_with_UR10e_updated
Dec 4, 2020
00c9421
Update sr_edc_default_controllers.launch
ToivoS Dec 4, 2020
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94 changes: 47 additions & 47 deletions sr_ethercat_hand_config/calibrations/rh/calibration.yaml
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Original file line number Diff line number Diff line change
@@ -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]]]
]
165 changes: 165 additions & 0 deletions sr_ethercat_hand_config/controls/host/rh/sr_edc_grasp_controllers_PWM.yaml
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Original file line number Diff line number Diff line change
@@ -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]
28 changes: 14 additions & 14 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
Expand Up @@ -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:
Expand Down Expand Up @@ -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:
Expand All @@ -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:
Expand Down Expand Up @@ -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:
Expand Down Expand Up @@ -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:
Expand Down
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