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F adding shadowrobot 200714 #221

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b5eb265
adding hand 4202 from F_adding_shadowrobot_200714 branch of sr-config
Jul 28, 2023
dc1507a
update tactiles
Jul 28, 2023
7f6328e
update licence years
Jul 28, 2023
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66 changes: 66 additions & 0 deletions sr_hand_config/4202/calibrations/calibration.yaml
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# Copyright 2023 Shadow Robot Company Ltd.
#
# This program is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the Free
# Software Foundation version 2 of the License.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along
# with this program. If not, see <http://www.gnu.org/licenses/>.

sr_calibrations: [
["FFJ1", [[3379.0, 0.0], [2771.0, 22.5], [2085.0, 45.0], [1362.0, 67.5], [736.0, 90.0]]],
["FFJ2", [[2870.0, 0.0], [2612.0, 22.5], [2234.0, 45.0], [1813.0, 67.5], [1472.0, 90.0]]],
["FFJ3", [[1828.0, 0.0], [2172.0, 22.5], [2464.0, 45.0], [2721.0, 67.5], [2844.0, 90.0]]],
["FFJ4", [[1545.0, -20.0], [1220.0, -10.0], [882.0, 0.0], [646.0, 10.0], [424.0, 20.0]]],
["MFJ1", [[3203.0, 0.0], [2502.0, 22.5], [1712.0, 45.0], [1040.0, 67.5], [438.0, 90.0]]],
["MFJ2", [[2981.0, 0.0], [2740.0, 22.5], [2398.0, 45.0], [2038.0, 67.5], [1698.0, 90.0]]],
["MFJ3", [[1799.0, 0.0], [2150.0, 22.5], [2502.0, 45.0], [2750.0, 67.5], [2891.0, 90.0]]],
["MFJ4", [[1885.0, -20.0], [1596.0, -10.0], [1319.4, 0.0], [1055.0, 10.0], [871.0, 20.0]]],
["RFJ1", [[3169.0, 0.0], [2533.0, 22.5], [1817.0, 45.0], [1218.0, 67.5], [687.0, 90.0]]],
["RFJ2", [[2675.0, 0.0], [2366.0, 22.5], [1959.0, 45.0], [1566.0, 67.5], [1247.0, 90.0]]],
["RFJ3", [[1871.0, 0.0], [2222.0, 22.5], [2578.0, 45.0], [2881.0, 67.5], [3047.0, 90.0]]],
["RFJ4", [[615.0, -20.0], [881.0, -10.0], [1155.0, 0.0], [1560.0, 10.0], [1901.0, 20.0]]],
["LFJ1", [[3037.0, 0.0], [2434.0, 22.5], [1726.0, 45.0], [1145.0, 67.5], [670.0, 90.0]]],
["LFJ2", [[2860.0, 0.0], [2550.0, 22.5], [2185.0, 45.0], [1775.0, 67.5], [1415.0, 90.0]]],
["LFJ3", [[1660.0, 0.0], [2036.0, 22.5], [2445.0, 45.0], [2815.0, 67.5], [3039.0, 90.0]]],
["LFJ4", [[747.0, -20.0], [1001.0, -10.0], [1272.0, 0.0], [1545.0, 10.0], [1780.0, 20.0]]],
["LFJ5", [[1888.0, 0.0], [2370.0, 22.5], [2809.0, 45.0], [3288.0, 67.5]]],
["THJ3", [[1452.0, -15.0], [2268.0, 0.0], [2744.0, 15.0]]],
["THJ4", [[1391.0, 0.0], [1679.0, 22.5], [2032.0, 45.0], [2379.0, 67.5]]],
["THJ5", [[566.0, -60.0], [775.0, -45.0], [978.0, -30.0], [1227.0, -15.0], [1531.0, 0.0], [1903.0, 15.0], [2235.0, 30.0], [2610.0, 45.0], [2967.0, 60.0]]],
["WRJ1", [[2506.0, -45.0], [2399.0, -22.5], [2212.0, 0.0], [2059.0, 15.0], [1900.0, 30.0]]],
["WRJ2", [[2555.0, -30.0], [1190.0, 0.0], [685.0, 10.0]]],
]

sr_calibrations_coupled: [
[["THJ1", "THJ2"], [[[2780.0, 2330.0], 0.0, 40.0],
[[2769.0, 2180.0], 0.0, 20.0],
[[2755.0, 2035.0], 0.0, 0.0],
[[2739.0, 1887.0], 0.0, -20.0],
[[2726.0, 1760.0], 0.0, -40.0],
[[2369.0, 2307.0], 22.5, 40.0],
[[2356.0, 2172.0], 22.5, 20.0],
[[2341.0, 2018.0], 22.5, 0.0],
[[2323.0, 1847.0], 22.5, -20.0],
[[2313.0, 1722.0], 22.5, -40.0],
[[1908.0, 2279.0], 45.0, 40.0],
[[1899.0, 2134.0], 45.0, 20.0],
[[1874.0, 1986.0], 45.0, 0.0],
[[1858.0, 1841.0], 45.0, -20.0],
[[1852.0, 1699.0], 45.0, -40.0],
[[1444.0, 2255.0], 67.5, 40.0],
[[1434.0, 2118.0], 67.5, 20.0],
[[1418.0, 1949.0], 67.5, 0.0],
[[1394.0, 1797.0], 67.5, -20.0],
[[1384.0, 1676.0], 67.5, -40.0],
[[1047.0, 2233.0], 90.0, 40.0],
[[1039.0, 2085.0], 90.0, 20.0],
[[1022.0, 1946.0], 90.0, 0.0],
[[998.0, 1793.0], 90.0, -20.0],
[[990.0, 1664.0], 90.0, -40.0]]]
]
80 changes: 80 additions & 0 deletions sr_hand_config/4202/calibrations/pressure_calibration.yaml
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# Copyright 2023 Shadow Robot Company Ltd.
#
# This program is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the Free
# Software Foundation version 2 of the License.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along
# with this program. If not, see <http://www.gnu.org/licenses/>.

{'sr_pressure_calibrations': [
# Each joint has 2 pressure sensors 0 and 1. So we have a row per joint/sensor combination.
# ["<joint_name>_<sensor>", [[<raw sensor value>, <calibrated millibar pressure>], [<raw sensor value>, <calibrated millibar pressure>]]],
# e.g.
#["FFJ1_0", [[0.0, 0.0], [1.0, 1.0]]],
#["FFJ1_1", [[0.0, 0.0], [1.0, 1.0]]],
#
# Note the calibrated value should be in millibars as the output in the message is an integer.
#
["FFJ0_0", [[167.0, 0.0], [626.0, 1000.0], [1201.0, 2000.0], [1756.0, 3000.0]]],
["FFJ0_1", [[148.0, 0.0], [609.0, 1000.0], [1176.0, 2000.0], [1708.0, 3000.0]]],
["FFJ1_0", [[0.0, 0.0], [1.0, 1.0]]],
["FFJ1_1", [[0.0, 0.0], [1.0, 1.0]]],
["FFJ2_0", [[0.0, 0.0], [1.0, 1.0]]],
["FFJ2_1", [[0.0, 0.0], [1.0, 1.0]]],
["FFJ3_0", [[207.0, 0.0], [668.0, 1000.0], [1240.0, 2000.0], [1800.0, 3000.0]]],
["FFJ3_1", [[223.0, 0.0], [663.0, 1000.0], [1219.0, 2000.0], [1759.0, 3000.0]]],
["FFJ4_0", [[115.0, 0.0], [576.0, 1000.0], [1136.0, 2000.0], [1688.0, 3000.0]]],
["FFJ4_1", [[192.0, 0.0], [652.0, 1000.0], [1216.0, 2000.0], [1763.0, 3000.0]]],
["MFJ0_0", [[0.0, 0.0], [1.0, 1.0]]],
["MFJ0_1", [[0.0, 0.0], [1.0, 1.0]]],
["MFJ1_0", [[0.0, 0.0], [1.0, 1.0]]],
["MFJ1_1", [[0.0, 0.0], [1.0, 1.0]]],
["MFJ2_0", [[0.0, 0.0], [1.0, 1.0]]],
["MFJ2_1", [[0.0, 0.0], [1.0, 1.0]]],
["MFJ3_0", [[0.0, 0.0], [1.0, 1.0]]],
["MFJ3_1", [[0.0, 0.0], [1.0, 1.0]]],
["MFJ4_0", [[0.0, 0.0], [1.0, 1.0]]],
["MFJ4_1", [[0.0, 0.0], [1.0, 1.0]]],
["RFJ0_0", [[209.0, 0.0], [710.0, 1000.0], [1279.0, 2000.0], [1827.0, 3000.0]]],
["RFJ0_1", [[214.0, 0.0], [696.0, 1000.0], [1264.0, 2000.0], [1811.0, 3000.0]]],
["RFJ1_0", [[0.0, 0.0], [1.0, 1.0]]],
["RFJ1_1", [[0.0, 0.0], [1.0, 1.0]]],
["RFJ2_0", [[0.0, 0.0], [1.0, 1.0]]],
["RFJ2_1", [[0.0, 0.0], [1.0, 1.0]]],
["RFJ3_0", [[174.0, 0.0], [626.0, 1000.0], [1180.0, 2000.0], [1728.0, 3000.0]]],
["RFJ3_1", [[231.0, 0.0], [716.0, 1000.0], [1272.0, 2000.0], [1812.0, 3000.0]]],
["RFJ4_0", [[211.0, 0.0], [704.0, 1000.0], [1278.0, 2000.0], [1831.0, 3000.0]]],
["RFJ4_1", [[172.0, 0.0], [640.0, 1000.0], [1196.0, 2000.0], [1743.0, 3000.0]]],
["LFJ0_0", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ0_1", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ1_0", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ1_1", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ2_0", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ2_1", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ3_0", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ3_1", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ4_0", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ4_1", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ5_0", [[0.0, 0.0], [1.0, 1.0]]],
["LFJ5_1", [[0.0, 0.0], [1.0, 1.0]]],
["THJ1_0", [[0.0, 0.0], [1.0, 1.0]]],
["THJ1_1", [[0.0, 0.0], [1.0, 1.0]]],
["THJ2_0", [[143.0, 0.0], [632.0, 1000.0], [1231.0, 2000.0], [1808.0, 3000.0]]],
["THJ2_1", [[184.0, 0.0], [705.0, 1000.0], [1328.0, 2000.0], [1931.0, 3000.0]]],
["THJ3_0", [[127.0, 0.0], [591.0, 1000.0], [1157.0, 2000.0], [1703.0, 3000.0]]],
["THJ3_1", [[254.0, 0.0], [704.0, 1000.0], [1264.0, 2000.0], [1791.0, 3000.0]]],
["THJ4_0", [[243.0, 0.0], [752.0, 1000.0], [1351.0, 2000.0], [1927.0, 3000.0]]],
["THJ4_1", [[184.0, 0.0], [652.0, 1000.0], [1216.0, 2000.0], [1752.0, 3000.0]]],
["THJ5_0", [[193.0, 0.0], [642.0, 1000.0], [1209.0, 2000.0], [1750.0, 3000.0]]],
["THJ5_1", [[335.0, 0.0], [767.0, 1000.0], [1351.0, 2000.0], [1900.0, 3000.0]]],
["WRJ1_0", [[147.0, 0.0], [556.0, 1000.0], [975.0, 2000.0], [1438.0, 3000.0]]],
["WRJ1_1", [[231.0, 0.0], [728.0, 1000.0], [1311.0, 2000.0], [1878.0, 3000.0]]],
["WRJ2_0", [[323.0, 0.0], [758.0, 1000.0], [1315.0, 2000.0], [1863.0, 3000.0]]],
["WRJ2_1", [[230.0, 0.0], [696.0, 1000.0], [1266.0, 2000.0], [1824.0, 3000.0]]],
]}
18 changes: 18 additions & 0 deletions sr_hand_config/4202/controls/host/common/friction_compensation.yaml
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# Copyright 2023 Shadow Robot Company Ltd.
#
# This program is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the Free
# Software Foundation version 2 of the License.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along
# with this program. If not, see <http://www.gnu.org/licenses/>.

sr_friction_map: [
#["LFJ5", 1, [[0.0, 0.0], [1.0, 0.0]]],
#["LFJ5", -1, [[0.0, -80.0], [1.0, -80.0]]]
]
132 changes: 132 additions & 0 deletions sr_hand_config/4202/controls/host/pwm/sr_edc_effort_controllers_PWM.yaml
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# Copyright 2023 Shadow Robot Company Ltd.
#
# This program is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the Free
# Software Foundation version 2 of the License.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along
# with this program. If not, see <http://www.gnu.org/licenses/>.

# First Finger (Index finger)
sh_rh_ffj0_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_FFJ0
max_force: 600
friction_deadband: 5
sh_rh_ffj3_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_FFJ3
max_force: 600
friction_deadband: 5
sh_rh_ffj4_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_FFJ4
max_force: 600
friction_deadband: 5


# Middle Finger
sh_rh_mfj0_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_MFJ0
max_force: 600
friction_deadband: 5
sh_rh_mfj3_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_MFJ3
max_force: 600
friction_deadband: 5
sh_rh_mfj4_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_MFJ4
max_force: 600
friction_deadband: 5


# Ring Finger
sh_rh_rfj0_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_RFJ0
max_force: 600
friction_deadband: 5
sh_rh_rfj3_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_RFJ3
max_force: 600
friction_deadband: 5
sh_rh_rfj4_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_RFJ4
max_force: 600
friction_deadband: 5


# Little Finger
sh_rh_lfj0_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_LFJ0
max_force: 600
friction_deadband: 5
sh_rh_lfj3_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_LFJ3
max_force: 600
friction_deadband: 5
sh_rh_lfj4_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_LFJ4
max_force: 600
friction_deadband: 5
sh_rh_lfj5_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_LFJ5
max_force: 600
friction_deadband: 5


# Thumb
sh_rh_thj1_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_THJ1
max_force: 600
friction_deadband: 5
sh_rh_thj2_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_THJ2
max_force: 600
friction_deadband: 5
sh_rh_thj3_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_THJ3
max_force: 600
friction_deadband: 5
sh_rh_thj4_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_THJ4
max_force: 600
friction_deadband: 5
sh_rh_thj5_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_THJ5
max_force: 600
friction_deadband: 5


# Wrist
sh_rh_wrj1_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_WRJ1
max_force: 600
friction_deadband: 5
sh_rh_wrj2_effort_controller:
type: sr_mechanism_controllers/SrhEffortJointController
joint: rh_WRJ2
max_force: 600
friction_deadband: 5


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