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YoheiKakiuchiYoheiKakiuchi
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add controller configuration yaml for ROBOTIQ
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‎hrpsys_gazebo_tutorials/config/L_ROBOTIQ.yaml

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hrpsys_gazebo_configuration:
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publish_joint_state:
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topic: /joint_states
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step: 25
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## velocity feedback for joint control, use parameter gains/joint_name/p_v
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# use_velocity_feedback: true
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## synchronized hrpsys and gazebo
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# use_synchronized_command: false
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# name of robot (using for namespace)
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robotname: L_ROBOTIQ
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# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
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joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
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# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
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joints:
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- L_finger_1_joint_1
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- L_finger_1_joint_2
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- L_finger_1_joint_3
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- L_finger_2_joint_1
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- L_finger_2_joint_2
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- L_finger_2_joint_3
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- L_finger_middle_joint_1
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- L_finger_middle_joint_2
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- L_finger_middle_joint_3
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- L_palm_finger_1_joint
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- L_palm_finger_2_joint
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- L_palm_finger_middle_joint
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## jointid:
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gains:
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L_finger_1_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_1_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_1_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_2_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_2_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_2_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_middle_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_middle_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_middle_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_palm_finger_1_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_palm_finger_2_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_palm_finger_middle_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}

‎hrpsys_gazebo_tutorials/config/R_ROBOTIQ.yaml

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hrpsys_gazebo_configuration:
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publish_joint_state:
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topic: /joint_states
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step: 25
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## velocity feedback for joint control, use parameter gains/joint_name/p_v
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# use_velocity_feedback: true
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## synchronized hrpsys and gazebo
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# use_synchronized_command: false
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# name of robot (using for namespace)
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robotname: R_ROBOTIQ
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# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
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joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
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# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
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joints:
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- R_finger_1_joint_1
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- R_finger_1_joint_2
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- R_finger_1_joint_3
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- R_finger_2_joint_1
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- R_finger_2_joint_2
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- R_finger_2_joint_3
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- R_finger_middle_joint_1
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- R_finger_middle_joint_2
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- R_finger_middle_joint_3
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- R_palm_finger_1_joint
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- R_palm_finger_2_joint
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- R_palm_finger_middle_joint
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## jointid:
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gains:
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R_finger_1_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_1_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_1_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_2_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_2_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_2_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_middle_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_middle_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_middle_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_palm_finger_1_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_palm_finger_2_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_palm_finger_middle_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}

‎hrpsys_gazebo_tutorials/launch/gazebo_staro_no_controllers.launch

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<arg if="$(arg USE_HAND)"
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name="USE_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO_with_hand.urdf.xacro" />
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<rosparam if="$(arg USE_HAND)"
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command="load"
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file="$(find hrpsys_gazebo_tutorials)/config/L_ROBOTIQ.yaml" ns="L_ROBOTIQ" />
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<rosparam if="$(arg USE_HAND)"
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command="load"
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file="$(find hrpsys_gazebo_tutorials)/config/R_ROBOTIQ.yaml" ns="R_ROBOTIQ" />
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<arg unless="$(arg USE_HAND)"
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name="USE_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf.xacro" />
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