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left_hand_phys.ini
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[include "gazebo_left_hand_robotname.ini"]
[WRAPPER]
device controlboardwrapper2
period 10
name /${gazeboYarpPluginsRobotName}/left_hand_phys
joints 11
networks ( left_hand_phys )
left_hand_phys 0 10 0 10
# Verbose output (on if present, off if commented out)
#verbose
[COUPLING]
icub_hand_mk3 (0 1 2 3 4 5 6 7 8 9 10) (l_thumb_oppose l_thumb_rotate l_thumb l_hand_finger l_index l_middle l_pinky reserved reserved reserved reserved)
# Specify configuration of MotorControl devices
[left_hand_phys]
device gazebo_controlboard
name left_hand_pyhs
jointNames l_hand_metacarpus_joint l_hand_thumb_rotation_joint l_hand_thumb_proximal_joint l_hand_thumb_distal_joint l_hand_index_adduction_joint l_hand_index_proximal_joint l_hand_index_distal_joint l_hand_medium_proximal_joint l_hand_medium_distal_joint l_hand_pinky_proximal_joint l_hand_pinky_distal_joint
[LIMITS]
jntVelMax 180.0 180.0 180.0 180.0 180.0 180.0 180.0 0 0 0 0
jntPosMax 80.0 0.0 140.0 10.0 200.3 200.3 200.3 0 0 0 0
jntPosMin 0.0 -70.0 0.0 0.0 0.0 0.0 0.0 0 0 0 0
[POSITION_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0 5.0
kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
ki 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
shift 0 0 0 0 0 0 0 0 0 0 0
ko 0 0 0 0 0 0 0 0 0 0 0
stictionUp 0 0 0 0 0 0 0 0 0 0 0
stictionDwn 0 0 0 0 0 0 0 0 0 0 0
[VELOCITY_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0
kd 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
ki 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01
maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
shift 0 0 0 0 0 0 0 0 0 0 0
ko 0 0 0 0 0 0 0 0 0 0 0
stictionUp 0 0 0 0 0 0 0 0 0 0 0
stictionDwn 0 0 0 0 0 0 0 0 0 0 0
[IMPEDANCE_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
stiffness 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
damping 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0