sr_ethercat_hand_config

Hand Configuration

• Calibrations - Both Left and Right hand calibration files, including the calibration of each joint and the 2 pressure sensors per joint. These are set by Shadow Robot prior to the delivery of a hand and should only be changed by a person that has received training for the calibration procedure.
• Controls - Yaml files containing definitions for calibration, effort, joint, position and motor controllers
• Demos - Demo files for store position (demo_rs.py or demo_ls.py), general demo (demo_r.py or demo_l.py), and card trick demo (demo_rc.py).
• Launch - Launch files for Left/Right/Bimanual hands, specific to an install
• Mappings - The file which provides the mapping between hand joints and actuators is specified here.
• Rates - Sensor and actuator update rate files.

Joint to actuator mappings

The mapping files for each type of hand can be found here. The mapping which corresponds to the system that you are launching, i.e. right hand/left hand/motor actuated/muscle actuated, should be specified in the corresponding lh (left hand) or rh (right hand) load_joint_mapping.xml, in the mappings directory.

Changing the joint to actuator mapping should be done with caution, as an incorrect mapping could cause damage to the hand.

Launching a hand

This directory includes launch files for left hand/right hand/bimanual systems.

The ethernet port in which the hand is connected is specified in the launch file. If the port is changed, then it should be edited here. The hand_serial parameter is hand specific, so should only be changed if launching a different hand. To find the hand serial you can launch the hand without the hand_serial argument and then check the program output. You should see something like:

Trying to read mapping for: /hand/mapping/1178

To launch a right hand, run:

roslaunch sr_ethercat_hand_config sr_rhand.launch

To launch a left hand:

roslaunch sr_ethercat_hand_config sr_lhand.launch

And for a bimanual system:

roslaunch sr_ethercat_hand_config sr_system.launch

Running a demo

The demo scripts can be run via rosrun, with a command of the following format:

For the right hand:

rosrun sr_ethercat_hand_config demo_r.py

And for the left hand:

rosrun sr_ethercat_hand_config demo_l.py