-
Notifications
You must be signed in to change notification settings - Fork 86
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Add ALOHA variant arm motor configs (#189)
* Add aloha variant motor configs * Set Current_Limit register default to 200 * wx250s does not limit gripper current limit * Update vx gripper dimensions * Update wx gripper dimensions
- Loading branch information
1 parent
2478cf0
commit 411ba45
Showing
2 changed files
with
237 additions
and
0 deletions.
There are no files selected for viewing
119 changes: 119 additions & 0 deletions
119
interbotix_ros_xsarms/interbotix_xsarm_control/config/aloha_vx300s.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,119 @@ | ||
| joint_order: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate, gripper] | ||
| sleep_positions: [0, -1.80, 1.55, 0, -1.57, 0, 0] | ||
|
|
||
| joint_state_publisher: | ||
| update_rate: 100 | ||
| publish_states: true | ||
| topic_name: joint_states | ||
|
|
||
| groups: | ||
| arm: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate] | ||
|
|
||
| grippers: | ||
| gripper: | ||
| horn_radius: 0.0275 | ||
| arm_length: 0.035 | ||
| left_finger: left_finger | ||
| right_finger: right_finger | ||
|
|
||
| shadows: | ||
| shoulder: | ||
| shadow_list: [shoulder_shadow] | ||
| calibrate: true | ||
| elbow: | ||
| shadow_list: [elbow_shadow] | ||
| calibrate: true | ||
|
|
||
| sisters: | ||
|
|
||
| motors: | ||
| waist: | ||
| ID: 1 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
|
|
||
| shoulder: | ||
| ID: 2 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 841 | ||
| Max_Position_Limit: 2867 | ||
| Secondary_ID: 255 | ||
|
|
||
| shoulder_shadow: | ||
| ID: 3 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 841 | ||
| Max_Position_Limit: 2867 | ||
| Secondary_ID: 2 | ||
|
|
||
| elbow: | ||
| ID: 4 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 898 | ||
| Max_Position_Limit: 3094 | ||
| Secondary_ID: 255 | ||
|
|
||
| elbow_shadow: | ||
| ID: 5 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 898 | ||
| Max_Position_Limit: 3094 | ||
| Secondary_ID: 4 | ||
|
|
||
| forearm_roll: | ||
| ID: 6 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
|
|
||
| wrist_angle: | ||
| ID: 7 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 830 | ||
| Max_Position_Limit: 3504 | ||
| Secondary_ID: 255 | ||
|
|
||
| wrist_rotate: | ||
| ID: 8 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
|
|
||
| gripper: | ||
| ID: 9 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
| Current_Limit: 200 |
118 changes: 118 additions & 0 deletions
118
interbotix_ros_xsarms/interbotix_xsarm_control/config/aloha_wx250s.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,118 @@ | ||
| joint_order: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate, gripper] | ||
| sleep_positions: [0, -1.80, 1.55, 0, -1.57, 0, 0] | ||
|
|
||
| joint_state_publisher: | ||
| update_rate: 100 | ||
| publish_states: true | ||
| topic_name: joint_states | ||
|
|
||
| groups: | ||
| arm: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate] | ||
|
|
||
| grippers: | ||
| gripper: | ||
| horn_radius: 0.020 | ||
| arm_length: 0.020 | ||
| left_finger: left_finger | ||
| right_finger: right_finger | ||
|
|
||
| shadows: | ||
| shoulder: | ||
| shadow_list: [shoulder_shadow] | ||
| calibrate: true | ||
| elbow: | ||
| shadow_list: [elbow_shadow] | ||
| calibrate: true | ||
|
|
||
| sisters: | ||
|
|
||
| motors: | ||
| waist: | ||
| ID: 1 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
|
|
||
| shoulder: | ||
| ID: 2 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 819 | ||
| Max_Position_Limit: 3345 | ||
| Secondary_ID: 255 | ||
|
|
||
| shoulder_shadow: | ||
| ID: 3 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 819 | ||
| Max_Position_Limit: 3345 | ||
| Secondary_ID: 2 | ||
|
|
||
| elbow: | ||
| ID: 4 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 648 | ||
| Max_Position_Limit: 3094 | ||
| Secondary_ID: 255 | ||
|
|
||
| elbow_shadow: | ||
| ID: 5 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 648 | ||
| Max_Position_Limit: 3094 | ||
| Secondary_ID: 4 | ||
|
|
||
| forearm_roll: | ||
| ID: 6 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
|
|
||
| wrist_angle: | ||
| ID: 7 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 910 | ||
| Max_Position_Limit: 3447 | ||
| Secondary_ID: 255 | ||
|
|
||
| wrist_rotate: | ||
| ID: 8 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
|
|
||
| gripper: | ||
| ID: 9 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 |