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F 4106 no filters #71

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735f702
no filters for demohand_E
Feb 10, 2022
0b0d1ee
testing
Feb 10, 2022
0ccfa14
restore position deadbands
Feb 10, 2022
4e77f1d
fix thj2 tau param, also disable filter on thj3
Feb 10, 2022
ec5e635
copying to server
Apr 28, 2022
150ced8
disable effort filter
May 13, 2022
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96 changes: 48 additions & 48 deletions sr_hand_config/4106/calibrations/calibration.yaml
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Original file line number Diff line number Diff line change
@@ -1,52 +1,52 @@
sr_calibrations: [
["FFJ1", [[3468.0, 0.0], [2792.0, 22.5], [1961.0, 45.0], [1208.0, 67.5], [460.0, 90.0]]],
["FFJ2", [[3041.0, 0.0], [2689.0, 22.5], [2285.0, 45.0], [1849.0, 67.5], [1458.0, 90.0]]],
["FFJ3", [[1721.0, 0.0], [2064.0, 22.5], [2401.0, 45.0], [2726.0, 67.5], [2951.0, 90.0]]],
["FFJ4", [[1094.0, -20.0], [1396.0, -10.0], [1685.0, 0.0], [2024.0, 10.0], [2307.0, 20.0]]],
["MFJ1", [[2892.0, 0.0], [2235.0, 22.5], [1501.0, 45.0], [794.0, 67.5], [219.0, 90.0]]],
["MFJ2", [[2957.0, 0.0], [2601.0, 22.5], [2197.0, 45.0], [1772.0, 67.5], [1381.0, 90.0]]],
["MFJ3", [[1824.0, 0.0], [2116.0, 22.5], [2432.0, 45.0], [2697.0, 67.5], [2897.0, 90.0]]],
["MFJ4", [[1246.0, -20.0], [1587.0, -10.0], [1956.0, 0.0], [2315.0, 10.0], [2642.0, 20.0]]],
["RFJ1", [[3137.0, 0.0], [2496.0, 22.5], [1748.0, 45.0], [972.0, 67.5], [313.0, 90.0]]],
["RFJ2", [[2842.0, 0.0], [2510.0, 22.5], [2157.0, 45.0], [1784.0, 67.5], [1452.0, 90.0]]],
["RFJ3", [[1793.0, 0.0], [2058.0, 22.5], [2326.0, 45.0], [2580.0, 67.5], [2751.0, 90.0]]],
["RFJ4", [[2223.0, -20.0], [1895.0, -10.0], [1586.0, 0.0], [1270.0, 10.0], [1080.0, 20.0]]],
["LFJ1", [[3232.0, 0.0], [2721.0, 22.5], [2087.0, 45.0], [1428.0, 67.5], [805.0, 90.0]]],
["LFJ2", [[2893.0, 0.0], [2652.0, 22.5], [2320.0, 45.0], [1937.0, 67.5], [1590.0, 90.0]]],
["LFJ3", [[1831.0, 0.0], [2202.0, 22.5], [2512.0, 45.0], [2754.0, 67.5], [2892.0, 90.0]]],
["LFJ4", [[2483.0, -20.0], [2121.0, -10.0], [1760.0, 0.0], [1408.0, 10.0], [1143.0, 20.0]]],
["LFJ5", [[299.0, 0.0], [1193.0, 22.5], [1651.0, 45.0], [2083.0, 67.5]]],
["THJ3", [[854.0, -15.0], [1538.0, 0.0], [2610.0, 15.0]]],
["THJ4", [[1526.0, 0.0], [1834.0, 22.5], [2137.0, 45.0], [2407.0, 67.5]]],
["THJ5", [[551.0, -60.0], [774.0, -45.0], [1029.0, -30.0], [1264.0, -15.0], [1565.0, 0.0], [1928.0, 15.0], [2287.0, 30.0], [2631.0, 45.0], [2932.0, 60.0]]],
["WRJ1", [[2532.19, -45.0], [2402.81, -22.5], [2206.98, 0.0], [2060.335, 15.0], [1951.305, 30.0]]],
["WRJ2", [[2483.0, -30.0], [1013.0, 0.0], [374.0, 10.0]]],
["FFJ1", [[3432.0, 0.0], [2730.0, 22.5], [1881.0, 45.0], [1155.0, 67.5], [388.0, 90.0]]],
["FFJ2", [[3069.0, 0.0], [2743.0, 22.5], [2326.0, 45.0], [1840.0, 67.5], [1472.0, 90.0]]],
["FFJ3", [[1734.0, 0.0], [2106.0, 22.5], [2433.0, 45.0], [2750.0, 67.5], [2945.0, 90.0]]],
["FFJ4", [[1071.0, -20.0], [1361.0, -10.0], [1675.0, 0.0], [1991.0, 10.0], [2286.0, 20.0]]],
["MFJ1", [[2892.0, 0.0], [2161.0, 22.5], [1398.0, 45.0], [770.0, 67.5], [196.0, 90.0]]],
["MFJ2", [[2968.0, 0.0], [2617.0, 22.5], [2206.0, 45.0], [1775.0, 67.5], [1399.0, 90.0]]],
["MFJ3", [[1853.0, 0.0], [2124.0, 22.5], [2450.0, 45.0], [2689.0, 67.5], [2866.0, 90.0]]],
["MFJ4", [[1245.0, -20.0], [1578.0, -10.0], [1946.0, 0.0], [2313.0, 10.0], [2640.0, 20.0]]],
["RFJ1", [[3124.0, 0.0], [2406.0, 22.5], [1640.0, 45.0], [881.0, 67.5], [279.0, 90.0]]],
["RFJ2", [[2872.0, 0.0], [2536.0, 22.5], [2138.0, 45.0], [1765.0, 67.5], [1426.0, 90.0]]],
["RFJ3", [[1813.51, 0.0], [2055.0, 22.5], [2318.0, 45.0], [2571.0, 67.5], [2733.0, 90.0]]],
["RFJ4", [[2224.0, -20.0], [1897.0, -10.0], [1572.0, 0.0], [1282.0, 10.0], [1020.0, 20.0]]],
["LFJ1", [[3250.0, 0.0], [2674.0, 22.5], [2005.0, 45.0], [1368.0, 67.5], [768.0, 90.0]]],
["LFJ2", [[2891.0, 0.0], [2639.0, 22.5], [2303.0, 45.0], [1944.0, 67.5], [1569.0, 90.0]]],
["LFJ3", [[1833.0, 0.0], [2190.0, 22.5], [2450.0, 45.0], [2737.0, 67.5], [2885.0, 90.0]]],
["LFJ4", [[2496.0, -20.0], [2139.0, -10.0], [1768.0, 0.0], [1458.0, 10.0], [1191.0, 20.0]]],
["LFJ5", [[367.0, 0.0], [1072.0, 22.5], [1669.0, 45.0], [2153.0, 67.5]]],
["THJ3", [[1101.0, -15.0], [1596.0, 0.0], [2591.0, 15.0]]],
["THJ4", [[1693.0, 0.0], [1902.0, 22.5], [2136.0, 45.0], [2382.0, 67.5]]],
["THJ5", [[480.0, -60.0], [694.0, -45.0], [941.0, -30.0], [1189.0, -15.0], [1423.0, 0.0], [1767.0, 15.0], [2137.0, 30.0], [2557.0, 45.0], [2921.0, 60.0]]],
["WRJ1", [[2525.0, -45.0], [2416.0, -22.5], [2237.0, 0.0], [2098.0, 15.0], [1983.0, 30.0]]],
["WRJ2", [[2491.0, -30.0], [1067.0, 0.0], [445.0, 10.0]]],
]

sr_calibrations_coupled: [
[["THJ1", "THJ2"], [[[2618.0, 2309.0], 0.0, 40.0],
[[2606.0, 2156.0], 0.0, 20.0],
[[2590.0, 1985.0], 0.0, 0.0],
[[2575.0, 1838.0], 0.0, -20.0],
[[2563.0, 1709.0], 0.0, -40.0],
[[2252.0, 2277.0], 22.5, 40.0],
[[2238.0, 2129.0], 22.5, 20.0],
[[2221.0, 1962.0], 22.5, 0.0],
[[2207.0, 1820.0], 22.5, -20.0],
[[2196.0, 1689.0], 22.5, -40.0],
[[1863.0, 2253.0], 45.0, 40.0],
[[1847.0, 2091.0], 45.0, 20.0],
[[1832.0, 1930.0], 45.0, 0.0],
[[1819.0, 1783.0], 45.0, -20.0],
[[1808.0, 1665.0], 45.0, -40.0],
[[1484.0, 2233.0], 67.5, 40.0],
[[1467.0, 2066.0], 67.5, 20.0],
[[1452.0, 1910.0], 67.5, 0.0],
[[1438.0, 1748.0], 67.5, -20.0],
[[1429.0, 1640.0], 67.5, -40.0],
[[1201.0, 2211.0], 90.0, 40.0],
[[1181.0, 2054.0], 90.0, 20.0],
[[1165.0, 1889.0], 90.0, 0.0],
[[1152.0, 1740.0], 90.0, -20.0],
[[1145.0, 1628.0], 90.0, -40.0]]]
]
[["THJ1", "THJ2"], [[[2615.0, 2322.0], 0.0, 40.0],
[[2600.0, 2165.0], 0.0, 20.0],
[[2583.0, 2000.0], 0.0, 0.0],
[[2567.0, 1844.0], 0.0, -20.0],
[[2554.0, 1718.0], 0.0, -40.0],
[[2265.0, 2298.0], 22.5, 40.0],
[[2250.0, 2147.0], 22.5, 20.0],
[[2233.0, 1972.0], 22.5, 0.0],
[[2220.0, 1822.0], 22.5, -20.0],
[[2207.0, 1692.0], 22.5, -40.0],
[[1879.0, 2272.0], 45.0, 40.0],
[[1864.0, 2112.0], 45.0, 20.0],
[[1849.0, 1948.0], 45.0, 0.0],
[[1836.0, 1795.0], 45.0, -20.0],
[[1825.0, 1663.0], 45.0, -40.0],
[[1504.0, 2248.0], 67.5, 40.0],
[[1491.0, 2096.0], 67.5, 20.0],
[[1473.0, 1928.0], 67.5, 0.0],
[[1461.0, 1774.0], 67.5, -20.0],
[[1452.0, 1642.0], 67.5, -40.0],
[[1224.0, 2233.0], 90.0, 40.0],
[[1207.0, 2075.0], 90.0, 20.0],
[[1191.0, 1910.0], 90.0, 0.0],
[[1179.0, 1757.0], 90.0, -20.0],
[[1169.0, 1627.0], 90.0, -40.0]]]
]
4 changes: 2 additions & 2 deletions sr_hand_config/4106/controls/host/pwm/sr_edc_joint_position_controllers_PWM.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -159,9 +159,9 @@ sh_lh_thj1_position_controller:
friction_deadband: 2000.0
i: 0.0
i_clamp: 0.0
max_force: 500.0
max_force: 600.0
p: -5700.0
position_deadband: 0.002
position_deadband: 0.0000000002
type: sr_mechanism_controllers/SrhJointPositionController
sh_lh_thj2_position_controller:
joint: lh_THJ2
Expand Down
4 changes: 2 additions & 2 deletions sr_hand_config/4106/controls/host/torque/sr_edc_joint_position_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,7 @@ sh_lh_thj1_position_controller:
i_clamp: 3000.0
max_force: 0.0
p: 5000.0
position_deadband: 0.015
position_deadband: 0.000000000078
type: sr_mechanism_controllers/SrhJointPositionController
sh_lh_thj2_position_controller:
joint: lh_THJ2
Expand All @@ -173,7 +173,7 @@ sh_lh_thj2_position_controller:
i_clamp: 6000.0
max_force: 0.0
p: -7000.0
position_deadband: 0.015
position_deadband: 0.000000000078
type: sr_mechanism_controllers/SrhJointPositionController
sh_lh_thj3_position_controller:
joint: lh_THJ3
Expand Down
8 changes: 5 additions & 3 deletions sr_hand_config/4106/controls/motors/motor_board_effort_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -263,7 +263,9 @@ thj1:
torque_limit: 400
torque_limiter_gain: 64
pos_filter:
tau: 0.05
tau: 0.00000000000001
effort_filter:
tau: 0.00000000000001
thj2:
backlash_compensation: true
pid:
Expand All @@ -282,7 +284,7 @@ thj2:
torque_limit: 400
torque_limiter_gain: 64
pos_filter:
tau: 0.05
tau: 0.00000000000001
thj3:
backlash_compensation: true
pid:
Expand All @@ -301,7 +303,7 @@ thj3:
torque_limit: 350
torque_limiter_gain: 64
pos_filter:
tau: 0.05
tau: 0.00000000000001
thj4:
backlash_compensation: false
pid:
Expand Down
4 changes: 2 additions & 2 deletions sr_hand_config/4106/general_info.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,11 @@ type: 'hand_e'
version: 'E3M5'
fingers: [th, ff, mf, rf, lf]
sensors:
tip: {th: pst, ff: pst, mf: pst, rf: pst, lf: pat}
tip: {th: pst, ff: pst, mf: pst, rf: pst, lf: pst}
mid: {}
prox: {}
palm: {}
mapping_path:
package_name: sr_edc_launch
relative_path: mappings/default_mappings/lh_E_v4.yaml
biotac: false # deprecated, to be removed
biotac: false # deprecated, to be removed