diff --git a/kinova_control/config/j2s6s200_control.yaml b/kinova_control/config/j2s6s200_control.yaml new file mode 100644 index 000000000..f31879ac9 --- /dev/null +++ b/kinova_control/config/j2s6s200_control.yaml @@ -0,0 +1,160 @@ +j2s6s200: + effort_finger_trajectory_controller: + constraints: + goal_time: 1.0 + j2s6s200_joint_finger_1: + goal: 0.02 + trajectory: 0.05 + j2s6s200_joint_finger_2: + goal: 0.02 + trajectory: 0.05 + stopped_velocity_tolerance: 0.02 + gains: + j2s6s200_joint_finger_1: + d: 0 + i: 0 + i_clamp: 1 + p: 10 + j2s6s200_joint_finger_2: + d: 0 + i: 0 + i_clamp: 1 + p: 10 + joints: + - j2s6s200_joint_finger_1 + - j2s6s200_joint_finger_2 + type: effort_controllers/JointTrajectoryController + effort_joint_trajectory_controller: + constraints: + goal_time: 1.0 + j2s6s200_joint_1: + goal: 0.02 + trajectory: 0.05 + j2s6s200_joint_2: + goal: 0.02 + trajectory: 0.05 + j2s6s200_joint_3: + goal: 0.02 + trajectory: 0.05 + j2s6s200_joint_4: + goal: 0.02 + trajectory: 0.05 + j2s6s200_joint_5: + goal: 0.02 + trajectory: 0.05 + j2s6s200_joint_6: + goal: 0.02 + trajectory: 0.05 + stopped_velocity_tolerance: 0.02 + gains: + j2s6s200_joint_1: + d: 0 + i: 0 + i_clamp: 10 + p: 5000 + j2s6s200_joint_2: + d: 0 + i: 0 + i_clamp: 10 + p: 5000 + j2s6s200_joint_3: + d: 0 + i: 0 + i_clamp: 10 + p: 5000 + j2s6s200_joint_4: + d: 0 + i: 0 + i_clamp: 10 + p: 500 + j2s6s200_joint_5: + d: 0 + i: 0 + i_clamp: 10 + p: 200 + j2s6s200_joint_6: + d: 0 + i: 0 + i_clamp: 10 + p: 500 + joints: + - j2s6s200_joint_1 + - j2s6s200_joint_2 + - j2s6s200_joint_3 + - j2s6s200_joint_4 + - j2s6s200_joint_5 + - j2s6s200_joint_6 + type: effort_controllers/JointTrajectoryController + finger_1_position_controller: + joint: j2s6s200_joint_finger_1 + pid: + d: 0 + i: 0 + p: 10 + type: effort_controllers/JointPositionController + finger_2_position_controller: + joint: j2s6s200_joint_finger_2 + pid: + d: 0 + i: 0 + p: 10 + type: effort_controllers/JointPositionController + finger_tip_1_position_controller: + joint: j2s6s200_joint_finger_tip_1 + pid: + d: 0 + i: 0 + p: 0.5 + type: effort_controllers/JointPositionController + finger_tip_2_position_controller: + joint: j2s6s200_joint_finger_tip_2 + pid: + d: 0 + i: 0 + p: 0.5 + type: effort_controllers/JointPositionController + joint_1_position_controller: + joint: j2s6s200_joint_1 + pid: + d: 0 + i: 0 + p: 5000 + type: effort_controllers/JointPositionController + joint_2_position_controller: + joint: j2s6s200_joint_2 + pid: + d: 0 + i: 0 + p: 5000 + type: effort_controllers/JointPositionController + joint_3_position_controller: + joint: j2s6s200_joint_3 + pid: + d: 0 + i: 0 + p: 5000 + type: effort_controllers/JointPositionController + joint_4_position_controller: + joint: j2s6s200_joint_4 + pid: + d: 0 + i: 0 + p: 500 + type: effort_controllers/JointPositionController + joint_5_position_controller: + joint: j2s6s200_joint_5 + pid: + d: 0 + i: 0 + p: 200 + type: effort_controllers/JointPositionController + joint_6_position_controller: + joint: j2s6s200_joint_6 + pid: + d: 0 + i: 0 + p: 500 + type: effort_controllers/JointPositionController + joint_state_controller: + publish_rate: 50 + type: joint_state_controller/JointStateController \ No newline at end of file diff --git a/kinova_control/launch/kinova_control.launch b/kinova_control/launch/kinova_control.launch index 4f9d2346e..3cb904c38 100644 --- a/kinova_control/launch/kinova_control.launch +++ b/kinova_control/launch/kinova_control.launch @@ -3,6 +3,8 @@ + + @@ -11,7 +13,7 @@ + + + joint_state_controller"/> + - - + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/kinova_description/urdf/j2s6s300_integration.xacro b/kinova_description/urdf/j2s6s300_integration.xacro new file mode 100644 index 000000000..9f95cfb40 --- /dev/null +++ b/kinova_description/urdf/j2s6s300_integration.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + diff --git a/kinova_gazebo/launch/robot_launch.launch b/kinova_gazebo/launch/robot_launch.launch index 32bb5d7ea..97a4bdab6 100644 --- a/kinova_gazebo/launch/robot_launch.launch +++ b/kinova_gazebo/launch/robot_launch.launch @@ -11,6 +11,8 @@ + + @@ -28,20 +30,49 @@ - + + + + + + + + + + - - - + + -J $(arg kinova_robotType)_joint_finger_2 1.0" /> + @@ -60,6 +91,8 @@ + +