From 56f42b3bec9ada324d567465d09ab7494856bac6 Mon Sep 17 00:00:00 2001 From: Zihan Chen Date: Tue, 11 Nov 2014 14:51:46 -0500 Subject: [PATCH 1/8] added export xenomai --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index f0b54ae..95d9ed6 100644 --- a/README.md +++ b/README.md @@ -55,6 +55,7 @@ sudo apt-get install libtar-dev protobuf-compiler libprotobuf-dev ```bash echo "export OROCOS_TARGET=xenomai" >> ~/.bashrc +export XENOMAI_ROOT_DIR=/usr/xenomai wget http://web.barrett.com/support/WAM_Installer/libconfig-barrett_1.4.5-1_`dpkg --print-architecture`.deb sudo dpkg -i libconfig-barrett_1.4.5-1_`dpkg --print-architecture`.deb ``` From 5061add6b831e1d4aa5ec49deb9398944f825216 Mon Sep 17 00:00:00 2001 From: Zihan Chen Date: Wed, 25 Feb 2015 11:52:43 -0500 Subject: [PATCH 2/8] updated wam 40 zero calibration, wrist rotate now calibrated to hard stop --- config/wam_40.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/config/wam_40.yaml b/config/wam_40.yaml index 79a005d..1c530e6 100644 --- a/config/wam_40.yaml +++ b/config/wam_40.yaml @@ -1,8 +1,8 @@ # These are the hardware calibrations for WAM#60 # Zerocal -home_position: [0.0, -1.58153, 0.0, 3.1415, -1.5708, -1.5708, -3.0] -home_resolver_offset: [-1.5109710760673565, -0.21935925266764755, -0.48166996739609047, - -3.1109130378320806, 1.349903093339364, -0.8851069146100148, -2.5065246074051366] +home_position: [0.0, -1.5708, 0.0, 3.1415, -1.5708, -1.5708, -3.5112] +home_resolver_offset: [0.3911651009108388, -0.7086991240031661, 0.25003886842535916, + -3.0786994412864814, -0.75318456685185, -0.9894176081862387, -2.4911847995262804] # Velocity filtering velocity_cutoff: [10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 1.0] velocity_smoothing_factor: 0.95 From 0416adae01569233dd596e75dd5a23885ab7dd94 Mon Sep 17 00:00:00 2001 From: Christopher Paxton Date: Tue, 7 Jul 2015 14:50:59 -0400 Subject: [PATCH 3/8] tweaks --- scripts/marker_teleop.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/scripts/marker_teleop.py b/scripts/marker_teleop.py index cae5242..f4c35f8 100755 --- a/scripts/marker_teleop.py +++ b/scripts/marker_teleop.py @@ -131,10 +131,10 @@ def menu_grasp_cb(self, msg): if not checked: self.menu_handler.setCheckState(handle, MenuHandler.CHECKED) rospy.loginfo('grasp') - self.finger_ref = 0.0 + self.finger_ref = 1.0 else: self.menu_handler.setCheckState(handle, MenuHandler.UNCHECKED) - self.finger_ref = 0.25 + self.finger_ref = 0.75 self.transform.header.stamp = rospy.Time.now() @@ -147,7 +147,7 @@ def menu_release_cb(self, msg): if not checked: self.menu_handler.setCheckState(handle, MenuHandler.CHECKED) rospy.loginfo('release') - self.finger_ref = 1.0 + self.finger_ref = 0.0 else: self.menu_handler.setCheckState(handle, MenuHandler.UNCHECKED) self.finger_ref = 0.25 From 30fb5e4f24464752d0fffa421260c71a52acdfb3 Mon Sep 17 00:00:00 2001 From: Christopher Paxton Date: Tue, 14 Jul 2015 15:32:03 -0400 Subject: [PATCH 4/8] added color to platform --- models/manipulation_platform.urdf.xacro | 3 +++ 1 file changed, 3 insertions(+) diff --git a/models/manipulation_platform.urdf.xacro b/models/manipulation_platform.urdf.xacro index b85d240..59b2a9b 100644 --- a/models/manipulation_platform.urdf.xacro +++ b/models/manipulation_platform.urdf.xacro @@ -23,6 +23,9 @@ + + + From 662e20a55827d57c8d87007dc21ca1147ec1ad63 Mon Sep 17 00:00:00 2001 From: Christopher Paxton Date: Wed, 15 Jul 2015 11:28:55 -0400 Subject: [PATCH 5/8] other tweaks to open/close settings for marker --- scripts/marker_teleop.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/scripts/marker_teleop.py b/scripts/marker_teleop.py index f4c35f8..f70f0f3 100755 --- a/scripts/marker_teleop.py +++ b/scripts/marker_teleop.py @@ -134,7 +134,7 @@ def menu_grasp_cb(self, msg): self.finger_ref = 1.0 else: self.menu_handler.setCheckState(handle, MenuHandler.UNCHECKED) - self.finger_ref = 0.75 + self.finger_ref = 0.25 self.transform.header.stamp = rospy.Time.now() @@ -150,7 +150,7 @@ def menu_release_cb(self, msg): self.finger_ref = 0.0 else: self.menu_handler.setCheckState(handle, MenuHandler.UNCHECKED) - self.finger_ref = 0.25 + self.finger_ref = 0.50 self.transform.header.stamp = rospy.Time.now() From 1e7e8a3259e2536dc274bad3957d14e698000c10 Mon Sep 17 00:00:00 2001 From: Christopher Paxton Date: Wed, 19 Aug 2015 14:32:30 -0400 Subject: [PATCH 6/8] inertia; adding var to get rid of bhand action server --- launch/sim/orocos_component_params.launch | 1 + launch/sim/wam7_sim.launch | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/launch/sim/orocos_component_params.launch b/launch/sim/orocos_component_params.launch index 215a6e2..dd8361c 100644 --- a/launch/sim/orocos_component_params.launch +++ b/launch/sim/orocos_component_params.launch @@ -15,6 +15,7 @@ gravity: [0.0, -9.8, 0.0] inertia_mass_rate: 0.3 inertia_com_rate: 0.05 + max_attached_mass: 3.0 tip_link: $(arg tf_prefix)/wrist_palm_link diff --git a/launch/sim/wam7_sim.launch b/launch/sim/wam7_sim.launch index bf279c3..a76fc55 100644 --- a/launch/sim/wam7_sim.launch +++ b/launch/sim/wam7_sim.launch @@ -20,6 +20,7 @@ + @@ -142,7 +143,7 @@ - From eb19bcc604f0172521779037564e195a9c83a001 Mon Sep 17 00:00:00 2001 From: Christopher Paxton Date: Fri, 21 Aug 2015 11:05:07 -0400 Subject: [PATCH 7/8] tweaking parameters for DMP reproductions --- launch/sim/orocos_component_params.launch | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/launch/sim/orocos_component_params.launch b/launch/sim/orocos_component_params.launch index dd8361c..f83cdb2 100644 --- a/launch/sim/orocos_component_params.launch +++ b/launch/sim/orocos_component_params.launch @@ -95,9 +95,10 @@ position_tolerance: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] velocity_tolerance: [3.2, 3.2, 3.2, 3.2, 3.0, 3.0, 3.0] - max_velocities: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5] - max_accelerations: [1.5, 1.5, 1.5, 4.0, 8.0, 8.0, 8.0] - max_jerks: [2.5, 2.5, 2.5, 2.5, 5.5, 5.5, 5.0] + #max_velocities: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5] + max_velocities: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] + max_accelerations: [1.0, 1.5, 1.0, 3.0, 6.0, 6.0, 6.0] + max_jerks: [2.0, 2.0, 2.0, 2.0, 4.0, 4.0, 4.0] From 011e430b6e62e1fc433687fd2d98d085010fc553 Mon Sep 17 00:00:00 2001 From: Christopher Paxton Date: Mon, 21 Sep 2015 11:33:07 -0400 Subject: [PATCH 8/8] fixing meshes --- models/meshes/manipulation_platform.blend | Bin 498480 -> 488016 bytes models/meshes/manipulation_platform.dae | 14 +++++++------- models/meshes/manipulation_platform.stl | Bin 684 -> 684 bytes 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/models/meshes/manipulation_platform.blend b/models/meshes/manipulation_platform.blend index 9930cffb1bba1462cc13a70dec6ba1e61a881c56..e5fa9be98802b1b60a228a69f2053ab098472287 100644 GIT binary patch literal 488016 zcmeF43xHfzeg7xP2BM;1t?i1`u8O*d3W{P%A=x~DfV?C;R$2{9vXHGwHr?G|@Net- 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