Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

rewrited version of #338 (Daido impedance fix: It is for investigation of the delivery of the impedance control.) #339

Open
wants to merge 10 commits into
base: indigo-devel
Choose a base branch
from
Open

rewrited version of #338 (Daido impedance fix: It is for investigation of the delivery of the impedance control.) #339

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
8c3cff4
nextage.xml.in: add output for lhsensor/rhsensor
k-okada Jun 24, 2017
a3e3dca
main.dae/main.wrl: add force sensors
k-okada Jun 24, 2017
7561566
nextage_client.py: enable ic/rmfo if RobotHardware provide these port
k-okada Jun 24, 2017
55a84a7
nextage_client.py: set ForceMomentOffset when goInitial()
k-okada Jun 24, 2017
9ea4caf
nextage_ros_bridge_real.launch: use HRPSYS_PY_{PKG,NAME}, this requir…
k-okada Jun 24, 2017
4d99d49
use USE_IMPEDANCECONTROLLER true for simulation
k-okada Jun 24, 2017
932f5aa
use USE_IMPEDANCECONTROLLER false for real robot
k-okada Jun 24, 2017
f11d2f9
rm conf/*.in, they are generated from hironx_ros_bridge.conf
k-okada Jun 24, 2017
da178b9
add .gitignore to conf, to keep conf directory
k-okada Jun 24, 2017
aa8c234
Merge branch 'indigo-devel' into daido_impedance_fix
k-okada May 2, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
26 changes: 26 additions & 0 deletions nextage_description/models/main.dae
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6444,6 +6444,24 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
</frame_origin>
</technique>
</extra>
<extra name="rhsensor" type="attach_sensor">
<technique profile="OpenRAVE">
<instance_sensor url="#sensor5"/>
<frame_origin link="kmodel1/link9">
<translate>-0.035 0 0</translate>
<rotate>0 1 0 -90.00000001175157</rotate>
</frame_origin>
</technique>
</extra>
<extra name="lhsensor" type="attach_sensor">
<technique profile="OpenRAVE">
<instance_sensor url="#sensor6"/>
<frame_origin link="kmodel1/link15">
<translate>-0.035 0 0</translate>
<rotate>0 1 0 -90.00000001175157</rotate>
</frame_origin>
</technique>
</extra>
<extra name="WAIST" type="attach_actuator">
<technique profile="OpenRAVE">
<instance_actuator url="#actuator1"/>
Expand Down Expand Up @@ -8725,6 +8743,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<image_dimensions>640 480 3</image_dimensions>
<measurement_time>0.033333</measurement_time>
</sensor>
<sensor id="sensor5" sid="0" type="base_force6d">
<load_range_force>-1.000000 -1.000000 -1.000000</load_range_force>
<load_range_torque>-1.000000 -1.000000 -1.000000</load_range_torque>
</sensor>
<sensor id="sensor6" sid="1" type="base_force6d">
<load_range_force>-1.000000 -1.000000 -1.000000</load_range_force>
<load_range_torque>-1.000000 -1.000000 -1.000000</load_range_torque>
</sensor>
</technique>
</extra>
<extra id="actuators" type="library_actuators">
Expand Down
10 changes: 10 additions & 0 deletions nextage_description/models/main.wrl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -577,6 +577,11 @@ DEF HiroNX Humanoid{
mass 1.05156
momentsOfInertia [ 0.00194072 -1.1E-7 -4.2482E-4 -1.1E-7 0.00209392 -1.2E-7 -4.2482E-4 -1.2E-7 3.5788E-4 ]
children [
DEF rhsensor ForceSensor {
translation -0.035 0 0
rotation 0 1 0 -1.570796327 # Toyota Lab setting
sensorId 0 # need to start from 0 for each sensor type
}
Transform {
translation -0.0061 0.0 -0.002
children Shape {
Expand Down Expand Up @@ -765,6 +770,11 @@ DEF HiroNX Humanoid{
mass 1.05156
momentsOfInertia [ 0.00194072 1.1E-7 -4.2482E-4 1.1E-7 0.00209392 1.2E-7 -4.2482E-4 1.2E-7 3.5788E-4 ]
children[
DEF lhsensor ForceSensor {
translation -0.035 0 0
rotation 0 1 0 -1.570796327
sensorId 1
}
Transform {
#translation -0.0225 0.010 -0.0301
translation -0.0061 0.0 -0.002
Expand Down
8 changes: 8 additions & 0 deletions nextage_ros_bridge/conf/.gitignore
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
*~
nextage.RobotHardware.conf
nextage.conf
nextage.xml
nextage_nosim.RobotHardware.conf
nextage_nosim.conf
nextage_nosim.xml

4 changes: 0 additions & 4 deletions nextage_ros_bridge/conf/nextage.RobotHardware.conf.in
View file
Open in desktop

This file was deleted.

4 changes: 0 additions & 4 deletions nextage_ros_bridge/conf/nextage.conf.in
View file
Open in desktop

This file was deleted.

172 changes: 0 additions & 172 deletions nextage_ros_bridge/conf/nextage.xml.in
View file
Open in desktop

This file was deleted.

4 changes: 0 additions & 4 deletions nextage_ros_bridge/conf/nextage_nosim.RobotHardware.conf.in
View file
Open in desktop

This file was deleted.

3 changes: 0 additions & 3 deletions nextage_ros_bridge/conf/nextage_nosim.conf.in
View file
Open in desktop

This file was deleted.

Loading