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Viewing changes to sr_description/arm/config/arm_controller.yaml

  • Committer: Ugo Cupcic
  • Date: 2012-07-23 12:23:41 UTC
  • Revision ID: ugo@shadowrobot.com-20120723122341-vlkm85bisxyv2wsw
just moved all the models out of sr_hand into sr_description, not rewritten yet

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Lines of Context:
sr_description/arm/config/arm_controller.yaml
 
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sa_sr_position_controller:
 
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  type: robot_mechanism_controllers/JointPositionController
 
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  joint: ShoulderJRotate
 
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  pid:
 
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    p: 60.5
 
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    i: 31.0
 
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    d: 8.0
 
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    i_clamp: 1
 
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sa_ss_position_controller:
 
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  type: robot_mechanism_controllers/JointPositionController
 
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  joint: ShoulderJSwing
 
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  pid:
 
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    p: 300.0
 
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    i: 360.0
 
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    d: 400.0
 
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    i_clamp: 20.0
 
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sa_es_position_controller:
 
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  type: robot_mechanism_controllers/JointPositionController
 
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  joint: ElbowJSwing
 
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  pid:
 
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    p: 100.0
 
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    i: 150.0
 
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    d: 150.0
 
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    i_clamp: 10.0
 
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sa_er_position_controller:
 
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  type: robot_mechanism_controllers/JointPositionController
 
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  joint: ElbowJRotate
 
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  pid:
 
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    p: 24.0
 
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    i: 18.0
 
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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}