forked from MarkFzp/mobile-aloha
-
Notifications
You must be signed in to change notification settings - Fork 6
/
leader_motor_specs_left.yaml
78 lines (71 loc) · 2.55 KB
/
leader_motor_specs_left.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
# Motor Assist: scale the no-load currents which alleviate the effects of friction
# If the values are invalid, they default to 0
# Joints not specified in the motor_assist or motor_specs sections
# do not support the current control mode
motor_assist:
# Set 'all' to [0, 1] to scale the no load currents of all joints uniformly
# Or to -1 and use joint specific values
all: -1
# Set the joint specific values to [0, 1] to scale differently for each joint
waist: 0.5
shoulder: 0.5
elbow: 0.5
forearm_roll: 0.5
wrist_angle: 0.5
wrist_rotate: 0.5
# Dither: add a oscillatory motion proportional to the load to break static friction
# It is helpful when slow and smooth movements are needed
# WARNING: excessive dithering WILL cause heat and wear on the joints
dither: false
motor_specs:
waist:
# torque constant (Nm/A): how much torque is produced per Amp of current
torque_constant: 1.793
# current unit (A): how much current command is needed to produce 1 Amp of current
current_unit: 0.00269
# no load current (A): the maximum no load current applied when motor_assist == 1
# should be as large as possible without the joint accelerating by itself
no_load_current: 0.0
# kinetic friction (Nm/Nm): the kinetic friction coefficient
# should be tuned so that the friction is uniform over the entire joint range
kinetic_friction_coefficient: 0.0
# static friction coefficient (Nm/Nm): the static friction coefficient
# affects the amplitude of the dithering motion
static_friction_coefficient: 0.0
# dither speed (rad/s): the speed under which the joint dithers
dither_speed: 0.0
shoulder:
torque_constant: 1.793
current_unit: 0.00269
no_load_current: 0.0
kinetic_friction_coefficient: 0.1
static_friction_coefficient: 0.4
dither_speed: 0.5
elbow:
torque_constant: 1.793
current_unit: 0.00269
no_load_current: 0.0
kinetic_friction_coefficient: 0.1
static_friction_coefficient: 0.6
dither_speed: 0.5
forearm_roll:
torque_constant: 0.897
current_unit: 0.00269
no_load_current: 0.2
kinetic_friction_coefficient: 0.0
static_friction_coefficient: 0.0
dither_speed: 0.0
wrist_angle:
torque_constant: 0.897
current_unit: 0.00269
no_load_current: 0.1
kinetic_friction_coefficient: 0.1
static_friction_coefficient: 0.4
dither_speed: 0.5
wrist_rotate:
torque_constant: 0.897
current_unit: 0.00269
no_load_current: 0.2
kinetic_friction_coefficient: 0.0
static_friction_coefficient: 0.0
dither_speed: 0.0