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  • Committer: Ugo Cupcic
  • Date: 2012-07-20 13:18:06 UTC
  • mfrom: (366.1.1 shadow_robot)
  • Revision ID: ugo@shadowrobot.com-20120720131806-t3cxkv09p7cpgdyy
Extracted and adapted modifications needed to shadow stack from the manip-electric version to be compatible with sr-manipulation electric and to run in real. Works without manipulation stack also, but requires some testing of all the launch files. New dae meshes are currently with wrong colors but are working.

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Lines of Context:
sr_hand/model/arm_urdf/arm_controller.yaml
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    d: 15.0
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    i_clamp: 1
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r_arm_cartesian_pose_controller:
 
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  type: robot_mechanism_controllers/CartesianPoseController
 
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  root_name: shadowarm_base
 
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  tip_name: palm
 
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  fb_trans:
 
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    p: 20.0
 
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    i: 0.5
 
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    d: 0.0
 
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    i_clamp: 1.0
 
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  fb_rot:
 
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    p: 0.5
 
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    i: 0.1
 
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    d: 0.0
 
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    i_clamp: 0.2
 
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r_arm_joint_trajectory_controller:
 
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  type: robot_mechanism_controllers/JointSplineTrajectoryController
 
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  joints:
 
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    - ShoulderJRotate
 
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    - ShoulderJSwing
 
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    - ElbowJSwing
 
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    - ElbowJRotate
 
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    - WRJ2
 
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    - WRJ1
 
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  gains:
 
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    ShoulderJRotate: {p: 140.0, d: 30.0}
 
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    ShoulderJSwing: {p: 140.0, d: 30.0}
 
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    ElbowJSwing: {p: 140.0, d: 30.0}
 
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    ElbowJRotate: {p: 140.0, d: 30.0}
 
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    WRJ2: {p: 140.0, d: 30.0}
 
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    WRJ1: {p: 140.0, d: 30.0}