From fdad36e3a44cdaae9d5873cad3929e886092e5ad Mon Sep 17 00:00:00 2001 From: Ethan Fowler Date: Thu, 6 Aug 2020 13:00:22 +0000 Subject: [PATCH] WIP --- .../config/lh_controller_gazebo_no_wrist.yaml | 215 ++++++++++++++++++ .../config/rh_controller_gazebo_no_wrist.yaml | 215 ++++++++++++++++++ 2 files changed, 430 insertions(+) create mode 100644 sr_description/hand/config/lh_controller_gazebo_no_wrist.yaml create mode 100644 sr_description/hand/config/rh_controller_gazebo_no_wrist.yaml diff --git a/sr_description/hand/config/lh_controller_gazebo_no_wrist.yaml b/sr_description/hand/config/lh_controller_gazebo_no_wrist.yaml new file mode 100644 index 000000000..91d4752e5 --- /dev/null +++ b/sr_description/hand/config/lh_controller_gazebo_no_wrist.yaml @@ -0,0 +1,215 @@ +sh_lh_ffj0_position_controller: + joint: lh_FFJ0 + pid: + d: 0.005 + i: 0.1 + i_clamp: 0.05 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_ffj3_position_controller: + joint: lh_FFJ3 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_ffj4_position_controller: + joint: lh_FFJ4 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_lfj0_position_controller: + joint: lh_LFJ0 + pid: + d: 0.005 + i: 0.1 + i_clamp: 0.05 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_lfj3_position_controller: + joint: lh_LFJ3 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_lfj4_position_controller: + joint: lh_LFJ4 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_lfj5_position_controller: + joint: lh_LFJ5 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_mfj0_position_controller: + joint: lh_MFJ0 + pid: + d: 0.005 + i: 0.1 + i_clamp: 0.05 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_mfj3_position_controller: + joint: lh_MFJ3 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_mfj4_position_controller: + joint: lh_MFJ4 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_rfj0_position_controller: + joint: lh_RFJ0 + pid: + d: 0.005 + i: 0.1 + i_clamp: 0.05 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_rfj3_position_controller: + joint: lh_RFJ3 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_rfj4_position_controller: + joint: lh_RFJ4 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_thj1_position_controller: + joint: lh_THJ1 + pid: + d: 0.0 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_thj2_position_controller: + joint: lh_THJ2 + pid: + d: 0.0 + i: 0.7 + i_clamp: 0.4 + p: 1.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_thj3_position_controller: + joint: lh_THJ3 + pid: + d: 0.0 + i: 0.2 + i_clamp: 0.2 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_thj4_position_controller: + joint: lh_THJ4 + pid: + d: 0.0 + i: 0.4 + i_clamp: 0.3 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 2.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_lh_thj5_position_controller: + joint: lh_THJ5 + pid: + d: 0.05 + i: 0.1 + i_clamp: 0.4 + p: 0.4 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 3.0 + type: sr_mechanism_controllers/SrhJointPositionController diff --git a/sr_description/hand/config/rh_controller_gazebo_no_wrist.yaml b/sr_description/hand/config/rh_controller_gazebo_no_wrist.yaml new file mode 100644 index 000000000..069e839ee --- /dev/null +++ b/sr_description/hand/config/rh_controller_gazebo_no_wrist.yaml @@ -0,0 +1,215 @@ +sh_rh_ffj0_position_controller: + joint: rh_FFJ0 + pid: + d: 0.005 + i: 0.1 + i_clamp: 0.05 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_ffj3_position_controller: + joint: rh_FFJ3 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_ffj4_position_controller: + joint: rh_FFJ4 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_lfj0_position_controller: + joint: rh_LFJ0 + pid: + d: 0.005 + i: 0.1 + i_clamp: 0.05 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_lfj3_position_controller: + joint: rh_LFJ3 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_lfj4_position_controller: + joint: rh_LFJ4 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_lfj5_position_controller: + joint: rh_LFJ5 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_mfj0_position_controller: + joint: rh_MFJ0 + pid: + d: 0.005 + i: 0.1 + i_clamp: 0.05 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_mfj3_position_controller: + joint: rh_MFJ3 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_mfj4_position_controller: + joint: rh_MFJ4 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_rfj0_position_controller: + joint: rh_RFJ0 + pid: + d: 0.005 + i: 0.1 + i_clamp: 0.05 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_rfj3_position_controller: + joint: rh_RFJ3 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_rfj4_position_controller: + joint: rh_RFJ4 + pid: + d: 0.05 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_thj1_position_controller: + joint: rh_THJ1 + pid: + d: 0.0 + i: 0.2 + i_clamp: 0.2 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_thj2_position_controller: + joint: rh_THJ2 + pid: + d: 0.0 + i: 0.7 + i_clamp: 0.4 + p: 1.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_thj3_position_controller: + joint: rh_THJ3 + pid: + d: 0.0 + i: 0.2 + i_clamp: 0.2 + p: 0.5 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 1.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_thj4_position_controller: + joint: rh_THJ4 + pid: + d: 0.0 + i: 0.4 + i_clamp: 0.3 + p: 1.0 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 2.0 + type: sr_mechanism_controllers/SrhJointPositionController + +sh_rh_thj5_position_controller: + joint: rh_THJ5 + pid: + d: 0.05 + i: 0.1 + i_clamp: 0.4 + p: 0.4 + position_deadband: 0.0 + friction_deadband: 0.0 + max_force: 3.0 + type: sr_mechanism_controllers/SrhJointPositionController