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Add ALOHA variant arm motor configs (#189)
* Add aloha variant motor configs * Set Current_Limit register default to 200 * wx250s does not limit gripper current limit * Update vx gripper dimensions * Update wx gripper dimensions
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119 changes: 119 additions & 0 deletions
119
interbotix_ros_xsarms/interbotix_xsarm_control/config/aloha_vx300s.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,119 @@ | ||
| joint_order: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate, gripper] | ||
| sleep_positions: [0, -1.80, 1.55, 0, -1.57, 0, 0] | ||
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| joint_state_publisher: | ||
| update_rate: 100 | ||
| publish_states: true | ||
| topic_name: joint_states | ||
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| groups: | ||
| arm: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate] | ||
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| grippers: | ||
| gripper: | ||
| horn_radius: 0.0275 | ||
| arm_length: 0.035 | ||
| left_finger: left_finger | ||
| right_finger: right_finger | ||
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| shadows: | ||
| shoulder: | ||
| shadow_list: [shoulder_shadow] | ||
| calibrate: true | ||
| elbow: | ||
| shadow_list: [elbow_shadow] | ||
| calibrate: true | ||
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| sisters: | ||
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| motors: | ||
| waist: | ||
| ID: 1 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
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| shoulder: | ||
| ID: 2 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 841 | ||
| Max_Position_Limit: 2867 | ||
| Secondary_ID: 255 | ||
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| shoulder_shadow: | ||
| ID: 3 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 841 | ||
| Max_Position_Limit: 2867 | ||
| Secondary_ID: 2 | ||
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| elbow: | ||
| ID: 4 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 898 | ||
| Max_Position_Limit: 3094 | ||
| Secondary_ID: 255 | ||
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| elbow_shadow: | ||
| ID: 5 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 898 | ||
| Max_Position_Limit: 3094 | ||
| Secondary_ID: 4 | ||
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| forearm_roll: | ||
| ID: 6 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
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| wrist_angle: | ||
| ID: 7 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 830 | ||
| Max_Position_Limit: 3504 | ||
| Secondary_ID: 255 | ||
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| wrist_rotate: | ||
| ID: 8 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
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| gripper: | ||
| ID: 9 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
| Current_Limit: 200 |
118 changes: 118 additions & 0 deletions
118
interbotix_ros_xsarms/interbotix_xsarm_control/config/aloha_wx250s.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,118 @@ | ||
| joint_order: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate, gripper] | ||
| sleep_positions: [0, -1.80, 1.55, 0, -1.57, 0, 0] | ||
|
|
||
| joint_state_publisher: | ||
| update_rate: 100 | ||
| publish_states: true | ||
| topic_name: joint_states | ||
|
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||
| groups: | ||
| arm: [waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate] | ||
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| grippers: | ||
| gripper: | ||
| horn_radius: 0.020 | ||
| arm_length: 0.020 | ||
| left_finger: left_finger | ||
| right_finger: right_finger | ||
|
|
||
| shadows: | ||
| shoulder: | ||
| shadow_list: [shoulder_shadow] | ||
| calibrate: true | ||
| elbow: | ||
| shadow_list: [elbow_shadow] | ||
| calibrate: true | ||
|
|
||
| sisters: | ||
|
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||
| motors: | ||
| waist: | ||
| ID: 1 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
|
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||
| shoulder: | ||
| ID: 2 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 819 | ||
| Max_Position_Limit: 3345 | ||
| Secondary_ID: 255 | ||
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| shoulder_shadow: | ||
| ID: 3 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 819 | ||
| Max_Position_Limit: 3345 | ||
| Secondary_ID: 2 | ||
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| elbow: | ||
| ID: 4 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 648 | ||
| Max_Position_Limit: 3094 | ||
| Secondary_ID: 255 | ||
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| elbow_shadow: | ||
| ID: 5 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 648 | ||
| Max_Position_Limit: 3094 | ||
| Secondary_ID: 4 | ||
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| forearm_roll: | ||
| ID: 6 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
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| wrist_angle: | ||
| ID: 7 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 1 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 910 | ||
| Max_Position_Limit: 3447 | ||
| Secondary_ID: 255 | ||
|
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| wrist_rotate: | ||
| ID: 8 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 | ||
|
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| gripper: | ||
| ID: 9 | ||
| Baud_Rate: 3 | ||
| Return_Delay_Time: 0 | ||
| Drive_Mode: 0 | ||
| Velocity_Limit: 131 | ||
| Min_Position_Limit: 0 | ||
| Max_Position_Limit: 4095 | ||
| Secondary_ID: 255 |