Hi,
I'm still having lots of difficulties to use the Generic_Actarray with a table
of hingeJoints controller.
Here is how I set it up in my .model :
....
<joint:hinge name="ffj1">
<body1>ffmiddle</body1>
<body2>ffdistal</body2>
<anchor>ffmiddle</anchor>
<anchorOffset>0 0 0.025</anchorOffset>
<axis>1 0 0</axis>
<lowStop>0</lowStop>
<highStop>90</highStop>
<erp>0.8</erp>
<cfm>10e-5</cfm>
</joint:hinge>
.....
<controller:generic_actarray name="hand_controller" n_actors="1">
<joint name="ffj1">
<force>100.0</force>
<gain>1.0</gain>
<tolerance>0.01</tolerance>
<axis>1 0 0</axis>
<lowStop>0</lowStop>
<highStop>90</highStop>
</joint>
...
<interface:actarray name="hand_actarray_iface"/>
</controller:generic_actarray>
At first I didn't put the axis / lowStop / highStop parameters in my
controller as I thought they would be taken from the joint definition. It
appeared they weren't, so I added some line to the Generic_Actarray.cc file to
be able to use those parameters in the controller too. Now they are set up
properly. Am I doing something wrong ?
Now the problem I'm facing is that the SetSpeed command in the
Generic_Actarray::UpdateChild() function doesn't seem to do anything. I added
debug line to the Generic_Actarray.cc to check that.
The GetVelocity return something around 0, though the SetVelocity sets it to
1.57. Any ideas ?
Cheers,
Ugo
On Monday 08 Feb 2010 16:11:01 Ugo Cupcic wrote:
> Dear all,
>
> I'm currently building a gazebo model for our robot (a robotic hand).
>
> I have a simple question: I want to add controllers to control the
> positions of my joints. The joints are hinges, so the position controllers
> should take one angle as input and set the corresponding joint in my model
> to this received angle.
>
> I checked on the internet and found some tutorials but didn't manage to
> make any of them work in my case... Any help is most welcome !
>
> By the way, just in case it makes a difference, I have gazebo 0.10.0 and
> player 3.0.0 installed.
>
> Cheers,
>
> Ugo
>
> PS: I can send the whole model if it is easier
>
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