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Update simmechanics configuration of the hands #115

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merged 3 commits into from
May 23, 2023
Merged

Update simmechanics configuration of the hands #115

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19eab7f
Align joint limits of hand joints to the CAD
xEnVrE May 17, 2023
8e55920
Properly configure joint limits for coupled hand joints
xEnVrE May 17, 2023
65c87eb
Configure hand joints to use the 'integrator_and_position_pid' veloci…
xEnVrE May 17, 2023
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48 changes: 24 additions & 24 deletions urdf/simmechanics/data/ergocub/ERGOCUB_joint_all_parameters.csv
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -28,31 +28,31 @@ l_elbow,-3,75,2,0,120,
l_wrist_roll,-62,52,2,0,120,
l_wrist_pitch,-32,32,2,0,120,
l_wrist_yaw,-92,92,2,0,120,
l_thumb_add,0,60,2,0,120,
l_thumb_prox,0,160,2,0,120,
l_thumb_dist,0,160,2,0,120,
l_index_add,0,20,2,0,120,
l_index_prox,0,160,2,0,120,
l_index_dist,0,160,2,0,120,
l_middle_prox,0,160,2,0,120,
l_middle_dist,0,160,2,0,120,
l_ring_prox,0,160,2,0,120,
l_ring_dist,0,160,2,0,120,
l_pinkie_prox,0,160,2,0,120,
l_pinkie_dist,0,160,2,0,120,
l_thumb_add,0,90,2,0,100,
l_thumb_prox,0,82.1,2,0,100,
l_thumb_dist,0,53.6,2,0,120,
l_index_add,0,15,2,0,100,
l_index_prox,0,90,2,0,100,
l_index_dist,0,99.2,2,0,100,
l_middle_prox,0,90,2,0,100,
l_middle_dist,0,99.2,2,0,100,
l_ring_prox,0,90,2,0,100,
l_ring_dist,0,99.2,2,0,100,
l_pinkie_prox,0,90,2,0,100,
l_pinkie_dist,0,93.3,2,0,100,
r_elbow,-3,75,2,0,120,
r_wrist_roll,-62,52,2,0,120,
r_wrist_pitch,-32,32,2,0,120,
r_wrist_yaw,-92,92,2,0,120,
r_thumb_add,0,60,2,0,120,
r_thumb_prox,0,160,2,0,120,
r_thumb_dist,0,160,2,0,120,
r_index_add,0,20,2,0,120,
r_index_prox,0,160,2,0,120,
r_index_dist,0,160,2,0,120,
r_middle_prox,0,160,2,0,120,
r_middle_dist,0,160,2,0,120,
r_ring_prox,0,160,2,0,120,
r_ring_dist,0,160,2,0,120,
r_pinkie_prox,0,160,2,0,120,
r_pinkie_dist,0,160,2,0,120,
r_thumb_add,0,90,2,0,100,
r_thumb_prox,0,82.1,2,0,100,
r_thumb_dist,0,53.6,2,0,120,
r_index_add,0,15,2,0,100,
r_index_prox,0,90,2,0,100,
r_index_dist,0,99.2,2,0,100,
r_middle_prox,0,90,2,0,100,
r_middle_dist,0,99.2,2,0,100,
r_ring_prox,0,90,2,0,100,
r_ring_dist,0,99.2,2,0,100,
r_pinkie_prox,0,90,2,0,100,
r_pinkie_dist,0,93.3,2,0,100,
18 changes: 9 additions & 9 deletions urdf/simmechanics/data/ergocub/conf/gazebo_ergocub_left_hand.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -3,15 +3,15 @@ yarpDeviceName left_hand_hardware_device
jointNames l_thumb_add l_thumb_prox l_thumb_dist l_index_add l_index_prox l_index_dist l_middle_prox l_middle_dist l_ring_prox l_ring_dist l_pinkie_prox l_pinkie_dist

[COUPLING]
icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc reserved reserved reserved reserved reserved reserved)
icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (90.0 82.1 15.0 90.0 90.0 90.0)

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[LIMITS]
jntVelMax 180.0 180.0 180.0 180.0 180.0 180.0 0 0 0 0 0 0
jntPosMax 70.0 160.0 15.0 160.0 160.0 160.0 0 0 0 0 0 0
jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 0 0 0 0 0 0
jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0
jntPosMax 90.0 82.1 53.6 15.0 90.0 99.2 90.0 99.2 90.0 99.2 90.0 93.3
jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0

[POSITION_CONTROL]
controlUnits metric_units
Expand All @@ -27,12 +27,12 @@ stictionUp 0 0 0 0 0 0 0 0 0 0 0 0
stictionDwn 0 0 0 0 0 0 0 0 0 0 0 0

[VELOCITY_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
velocityControlImplementationType direct_velocity_pid
kp 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
velocityControlImplementationType integrator_and_position_pid
kp 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01
kd 0.0 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 0.01
ki 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
shift 0 0 0 0 0 0 0 0 0 0 0 0
Expand Down
18 changes: 9 additions & 9 deletions urdf/simmechanics/data/ergocub/conf/gazebo_ergocub_right_hand.ini
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,15 +3,15 @@ yarpDeviceName right_hand_hardware_device
jointNames r_thumb_add r_thumb_prox r_thumb_dist r_index_add r_index_prox r_index_dist r_middle_prox r_middle_dist r_ring_prox r_ring_dist r_pinkie_prox r_pinkie_dist

[COUPLING]
icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc reserved reserved reserved reserved reserved reserved)
icub_hand_mk5 (0 1 2 3 4 5 6 7 8 9 10 11) (r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc reserved reserved reserved reserved reserved reserved) (0.0 0.0 0.0 0.0 0.0 0.0) (90.0 82.1 15.0 90.0 90.0 90.0)

[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk

[LIMITS]
jntVelMax 180.0 180.0 180.0 180.0 180.0 180.0 0 0 0 0 0 0
jntPosMax 70.0 160.0 15.0 160.0 160.0 160.0 0 0 0 0 0 0
jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 0 0 0 0 0 0
jntVelMax 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0
jntPosMax 90.0 82.1 53.6 15.0 90.0 99.2 90.0 99.2 90.0 99.2 90.0 93.3
jntPosMin 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0

[POSITION_CONTROL]
controlUnits metric_units
Expand All @@ -27,12 +27,12 @@ stictionUp 0 0 0 0 0 0 0 0 0 0 0 0
stictionDwn 0 0 0 0 0 0 0 0 0 0 0 0

[VELOCITY_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
velocityControlImplementationType direct_velocity_pid
kp 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0 20.0
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
velocityControlImplementationType integrator_and_position_pid
kp 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01
kd 0.0 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 0.01
ki 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
maxInt 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
shift 0 0 0 0 0 0 0 0 0 0 0 0
Expand Down
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