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j2s7s300_control.yaml
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j2s7s300_control.yaml
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j2s7s300:
effort_finger_trajectory_controller:
constraints:
goal_time: 1.0
j2s7s300_joint_finger_1:
goal: 0.02
trajectory: 0.05
j2s7s300_joint_finger_2:
goal: 0.02
trajectory: 0.05
j2s7s300_joint_finger_3:
goal: 0.02
trajectory: 0.05
stopped_velocity_tolerance: 0.02
gains:
j2s7s300_joint_finger_1:
d: 0
i: 0
i_clamp: 1
p: 10
j2s7s300_joint_finger_2:
d: 0
i: 0
i_clamp: 1
p: 10
j2s7s300_joint_finger_3:
d: 0
i: 0
i_clamp: 1
p: 10
joints:
- j2s7s300_joint_finger_1
- j2s7s300_joint_finger_2
- j2s7s300_joint_finger_3
type: effort_controllers/JointTrajectoryController
effort_joint_trajectory_controller:
constraints:
goal_time: 1.0
j2s7s300_joint_1:
goal: 0.02
trajectory: 0.05
j2s7s300_joint_2:
goal: 0.02
trajectory: 0.05
j2s7s300_joint_3:
goal: 0.02
trajectory: 0.05
j2s7s300_joint_4:
goal: 0.02
trajectory: 0.05
j2s7s300_joint_5:
goal: 0.02
trajectory: 0.05
j2s7s300_joint_6:
goal: 0.02
trajectory: 0.05
j2s7s300_joint_7:
goal: 0.02
trajectory: 0.05
stopped_velocity_tolerance: 0.02
gains:
j2s7s300_joint_1:
d: 0
i: 0
i_clamp: 10
p: 2000
j2s7s300_joint_2:
d: 0
i: 0
i_clamp: 10
p: 3000
j2s7s300_joint_3:
d: 0
i: 0
i_clamp: 10
p: 1000
j2s7s300_joint_4:
d: 0
i: 0
i_clamp: 10
p: 2000
j2s7s300_joint_5:
d: 0
i: 0
i_clamp: 10
p: 200
j2s7s300_joint_6:
d: 0
i: 0
i_clamp: 10
p: 500
j2s7s300_joint_7:
d: 0
i: 0
i_clamp: 10
p: 200
joints:
- j2s7s300_joint_1
- j2s7s300_joint_2
- j2s7s300_joint_3
- j2s7s300_joint_4
- j2s7s300_joint_5
- j2s7s300_joint_6
- j2s7s300_joint_7
type: effort_controllers/JointTrajectoryController
finger_1_position_controller:
joint: j2s7s300_joint_finger_1
pid:
d: 0
i: 0
p: 10
type: effort_controllers/JointPositionController
finger_2_position_controller:
joint: j2s7s300_joint_finger_2
pid:
d: 0
i: 0
p: 10
type: effort_controllers/JointPositionController
finger_3_position_controller:
joint: j2s7s300_joint_finger_3
pid:
d: 0
i: 0
p: 10
type: effort_controllers/JointPositionController
finger_tip_1_position_controller:
joint: j2s7s300_joint_finger_tip_1
pid:
d: 0
i: 0
p: 0.5
type: effort_controllers/JointPositionController
finger_tip_2_position_controller:
joint: j2s7s300_joint_finger_tip_2
pid:
d: 0
i: 0
p: 0.5
type: effort_controllers/JointPositionController
finger_tip_3_position_controller:
joint: j2s7s300_joint_finger_tip_3
pid:
d: 0
i: 0
p: 0.5
type: effort_controllers/JointPositionController
joint_1_position_controller:
joint: j2s7s300_joint_1
pid:
d: 0
i: 0
p: 2000
type: effort_controllers/JointPositionController
joint_2_position_controller:
joint: j2s7s300_joint_2
pid:
d: 0
i: 0
p: 3000
type: effort_controllers/JointPositionController
joint_3_position_controller:
joint: j2s7s300_joint_3
pid:
d: 0
i: 0
p: 1000
type: effort_controllers/JointPositionController
joint_4_position_controller:
joint: j2s7s300_joint_4
pid:
d: 0
i: 0
p: 2000
type: effort_controllers/JointPositionController
joint_5_position_controller:
joint: j2s7s300_joint_5
pid:
d: 0
i: 0
p: 200
type: effort_controllers/JointPositionController
joint_6_position_controller:
joint: j2s7s300_joint_6
pid:
d: 0
i: 0
p: 500
type: effort_controllers/JointPositionController
joint_7_position_controller:
joint: j2s7s300_joint_7
pid:
d: 0
i: 0
p: 200
type: effort_controllers/JointPositionController
joint_state_controller:
publish_rate: 50
type: joint_state_controller/JointStateController