qlin/sas_robot_driver_franka
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* added cartesian interface

* general fix and optimization
This commit is contained in:
qlin960618
2024-07-19 22:34:54 -07:00
committed by GitHub
parent a68afa690d
commit e263d34c0c
25 changed files with 412 additions and 68 deletions
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4
cfg/sas_robot_driver_franka_1.yaml
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@@ -5,4 +5,6 @@
"thread_sampling_time_nsec": 4000000
"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895]
"force_upper_limits_scaling_factor": 4.0
"upper_torque_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0]
"upper_force_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0]

8
cfg/sas_robot_driver_franka_2.yaml
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@@ -1,8 +0,0 @@
"robot_ip_address": "172.16.0.3"
"robot_mode": "PositionControl"
"robot_port": 5007
"robot_speed": 20.0
"thread_sampling_time_nsec": 4000000
"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895]

8
cfg/sas_robot_driver_franka_3.yaml
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@@ -1,8 +0,0 @@
"robot_ip_address": "172.16.0.4"
"robot_mode": "PositionControl"
"robot_port": 5007
"robot_speed": 20.0
"thread_sampling_time_nsec": 4000000
"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895]

8
cfg/sas_robot_driver_franka_4.yaml
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@@ -1,8 +0,0 @@
"robot_ip_address": "172.16.0.5"
"robot_mode": "PositionControl"
"robot_port": 5007
"robot_speed": 20.0
"thread_sampling_time_nsec": 4000000
"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895]