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gazebo_icub_left_hand_thumb.ini
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gazebo_icub_left_hand_thumb.ini
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[include "gazebo_icub_robotname.ini"]
# Verbose output (on if present, off if commented out)
#verbose
[WRAPPER]
device controlboardwrapper2
period 10
name /${gazeboYarpPluginsRobotName}/left_hand_thumb
joints 4
networks ( left_hand_thumb)
left_hand_thumb 0 3 0 3
[TRAJECTORY_GENERATION]
trajectory_type minimum_jerk
[COUPLING]
thumb_control (0 1 2 3) (l_thumb_oppose l_thumb_proximal l_thumb_distal reserved)
# Specify configuration of MotorControl devices
[left_hand_thumb]
# name of the device to be instatiated by the factory
device gazebo_controlboard
#jointNames list
jointNames l_tj2 l_tj4 l_tj5 l_tj6
name left_hand_thumb
min_stiffness 0.0 0.0 0.0 0.0
max_stiffness 1000.0 1000.0 1000.0 1000.0
min_damping 0.0 0.0 0.0 0.0
max_damping 100.0 100.0 100.0 100.0
#PIDs:
# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values
[POSITION_CONTROL]
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 1.745 1.745 1.745 1.745
kd 0.0 0.0 0.0 0.0
ki 0.174 0.174 0.174 0.174
maxInt 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999
shift 0.0 0.0 0.0 0.0
ko 0.0 0.0 0.0 0.0
stictionUp 0.0 0.0 0.0 0.0
stictionDwn 0.0 0.0 0.0 0.0
[VELOCITY_CONTROL]
velocityControlImplementationType integrator_and_position_pid
controlUnits metric_units
controlLaw joint_pid_gazebo_v1
kp 8.726 8.726 8.726 5.236
kd 0.035 0.035 0.035 0.002
ki 0.002 0.002 0.002 0.0
maxInt 9999 9999 9999 9999
maxOutput 9999 9999 9999 9999
shift 0.0 0.0 0.0 0.0
ko 0.0 0.0 0.0 0.0
stictionUp 0.0 0.0 0.0 0.0
stictionDwn 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
damping 0.0 0.0 0.0 0.0
[LIMITS]
jntPosMax 90.0 90.0 90.0 90.0
jntPosMin -90.0 -90.0 -90.0 -90.0
jntVelMax 100.0 100.0 100.0 100.0