From 9203c6b946a777437f9286c79f03ae3aed9b4fc5 Mon Sep 17 00:00:00 2001 From: Brian Delhaisse Date: Thu, 17 Oct 2019 09:11:20 +0200 Subject: [PATCH] add kuka control file --- .../kuka/kuka_iiwa/kuka_iiwa_control.yaml | 187 ++++++++++++++++++ 1 file changed, 187 insertions(+) create mode 100644 pyrobolearn/robots/urdfs/kuka/kuka_iiwa/kuka_iiwa_control.yaml diff --git a/pyrobolearn/robots/urdfs/kuka/kuka_iiwa/kuka_iiwa_control.yaml b/pyrobolearn/robots/urdfs/kuka/kuka_iiwa/kuka_iiwa_control.yaml new file mode 100644 index 0000000..745256a --- /dev/null +++ b/pyrobolearn/robots/urdfs/kuka/kuka_iiwa/kuka_iiwa_control.yaml @@ -0,0 +1,187 @@ +#iiwa: + # Publish all joint states ----------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + + # Controllers for singular joint ------------------------------------ + # + # Effort Position Controllers --------------------------------------- + + # VALUES ARE NOT CORRECT ! + EffortJointInterface_J1_controller: + type: effort_controllers/JointPositionController + joint: iiwa_joint_1 + pid: {p: 800.0, i: 100, d: 80.0, i_clamp_min: -10000, i_clamp_max: 10000} + + EffortJointInterface_J2_controller: + type: effort_controllers/JointPositionController + joint: iiwa_joint_2 + pid: {p: 800.0, i: 1000, d: 100.0, i_clamp_min: -10000, i_clamp_max: 10000} + + EffortJointInterface_J3_controller: + type: effort_controllers/JointPositionController + joint: iiwa_joint_3 + pid: {p: 800.0, i: 10, d: 5.0, i_clamp_min: -10000, i_clamp_max: 10000} + + EffortJointInterface_J4_controller: + type: effort_controllers/JointPositionController + joint: iiwa_joint_4 + pid: {p: 800.0, i: 10, d: 80.0, i_clamp_min: -10000, i_clamp_max: 10000} + + EffortJointInterface_J5_controller: + type: effort_controllers/JointPositionController + joint: iiwa_joint_5 + pid: {p: 300.0, i: 5, d: 10.0, i_clamp_min: -10000, i_clamp_max: 10000} + + EffortJointInterface_J6_controller: + type: effort_controllers/JointPositionController + joint: iiwa_joint_6 + pid: {p: 50.0, i: 1, d: 1.0, i_clamp_min: -10000, i_clamp_max: 10000} + + EffortJointInterface_J7_controller: + type: effort_controllers/JointPositionController + joint: iiwa_joint_7 + pid: {p: 10.0, i: 0.1, d: 1.0, i_clamp_min: -10000, i_clamp_max: 10000} + + # Forward Position Controllers --------------------------------------- + PositionJointInterface_J1_controller: + type: position_controllers/JointPositionController + joint: iiwa_joint_1 + + PositionJointInterface_J2_controller: + type: position_controllers/JointPositionController + joint: iiwa_joint_2 + + PositionJointInterface_J3_controller: + type: position_controllers/JointPositionController + joint: iiwa_joint_3 + + PositionJointInterface_J4_controller: + type: position_controllers/JointPositionController + joint: iiwa_joint_4 + + PositionJointInterface_J5_controller: + type: position_controllers/JointPositionController + joint: iiwa_joint_5 + + PositionJointInterface_J6_controller: + type: position_controllers/JointPositionController + joint: iiwa_joint_6 + + PositionJointInterface_J7_controller: + type: position_controllers/JointPositionController + joint: iiwa_joint_7 + + # Forward Velocity Controllers --------------------------------------- + VelocityJointInterface_J1_controller: + type: velocity_controllers/JointVelocityController + joint: iiwa_joint_1 + + VelocityJointInterface_J2_controller: + type: velocity_controllers/JointVelocityController + joint: iiwa_joint_2 + + VelocityJointInterface_J3_controller: + type: velocity_controllers/JointVelocityController + joint: iiwa_joint_3 + + VelocityJointInterface_J4_controller: + type: velocity_controllers/JointVelocityController + joint: iiwa_joint_4 + + VelocityJointInterface_J5_controller: + type: velocity_controllers/JointVelocityController + joint: iiwa_joint_5 + + VelocityJointInterface_J6_controller: + type: velocity_controllers/JointVelocityController + joint: iiwa_joint_6 + + VelocityJointInterface_J7_controller: + type: velocity_controllers/JointVelocityController + joint: iiwa_joint_7 + + + # Trajectory Controllers --------------------------------------- + # + # Effort Position Controllers --------------------------------------- + EffortJointInterface_trajectory_controller: + type: effort_controllers/JointTrajectoryController + joints: + - iiwa_joint_1 + - iiwa_joint_2 + - iiwa_joint_3 + - iiwa_joint_4 + - iiwa_joint_5 + - iiwa_joint_6 + - iiwa_joint_7 + + # VALUES ARE NOT CORRECT ! + gains: + iiwa_joint_1: {p: 500, d: 30, i: 15, i_clamp: 30} + iiwa_joint_2: {p: 200, d: 10, i: 10, i_clamp: 30} + iiwa_joint_3: {p: 65, d: 10, i: 15, i_clamp: 30} + iiwa_joint_4: {p: 31, d: 7, i: 12, i_clamp: 30} + iiwa_joint_5: {p: 23, d: 3, i: 5, i_clamp: 30} + iiwa_joint_6: {p: 13, d: 3, i: 3, i_clamp: 30} + iiwa_joint_7: {p: 17, d: 2, i: 2.5, i_clamp: 10} + + constraints: + goal_time: 0.5 # Override default + + state_publish_rate: 25 # Override default + action_monitor_rate: 30 # Override default + stop_trajectory_duration: 0 # Override default + + # Forward Position Controllers --------------------------------------- + PositionJointInterface_trajectory_controller: + type: position_controllers/JointTrajectoryController + joints: + - iiwa_joint_1 + - iiwa_joint_2 + - iiwa_joint_3 + - iiwa_joint_4 + - iiwa_joint_5 + - iiwa_joint_6 + - iiwa_joint_7 + + constraints: + goal_time: 0.5 # Override default + + state_publish_rate: 25 # Override default + action_monitor_rate: 30 # Override default + stop_trajectory_duration: 0 # Override default + + # Forward Velocity Controllers --------------------------------------- + VelocityJointInterface_trajectory_controller: + type: velocity_controllers/JointTrajectoryController + joints: + - iiwa_joint_1 + - iiwa_joint_2 + - iiwa_joint_3 + - iiwa_joint_4 + - iiwa_joint_5 + - iiwa_joint_6 + - iiwa_joint_7 + + # VALUES ARE NOT CORRECT ! + gains: + iiwa_joint_1: {p: 500, d: 30, i: 15, i_clamp: 30} + iiwa_joint_2: {p: 200, d: 10, i: 10, i_clamp: 30} + iiwa_joint_3: {p: 65, d: 10, i: 15, i_clamp: 30} + iiwa_joint_4: {p: 31, d: 7, i: 12, i_clamp: 30} + iiwa_joint_5: {p: 23, d: 3, i: 5, i_clamp: 30} + iiwa_joint_6: {p: 13, d: 3, i: 3, i_clamp: 30} + iiwa_joint_7: {p: 17, d: 2, i: 2.5, i_clamp: 10} + + constraints: + goal_time: 0.5 # Override default + + state_publish_rate: 25 # Override default + action_monitor_rate: 30 # Override default + stop_trajectory_duration: 0 # Override default + + + +