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SOFTWARE
UNIVERSAL ROBOTS MANUAL — MAR 9, 2023 — RELEASE: V1.0.3
To start this mode just add
use_waypoints:=true
to the general
roslaunch
command (be sure that
the opposite
use_controller_gui
is not used). You won't see any control interface in this case but the
qb SoftClaw
should
start moving according to the given trajectory, parsed from a yaml file located at the
following path:
qb_move_control/config/qbsoftclaw_waypoints.yaml
Customization
You can modify the waypoint trajectory to replicate the behavior you want: either change the
qb_move_control/config/qbsoftclaw_waypoints.yaml
or
add another custom application-specific
file in the
config
directory. In the second case you need to set the argument
device_name
properly
when launching the command from the terminal (in this case
device_name
= qbsoftclaw
).
The following example control the qb SoftClaw to fully open, and to grasp with three different force
thresholds.
# Waypoints describe the desired motion trajectory:
# - time [s]: can be either a single value or an interval
for
which joint_positions hold
# - joint_positions:
# - shaft position [radians] and stiffness preset [
0
,
1
];
# - joint_velocities: optional, use it only
if
you want a nonzero values
# - shaft position [radians/s] and stiffness preset [
0
,
1
]/s;
# - joint_accelerations: optional, use it only
if
you want a nonzero values
# - shaft position [radians/s^
2
] and stiffness preset [
0
,
1
]/s^
2
;
#
# It is worth noting that,
if
specified, joint_positions, joint_velocities and joint_accelerations must be of size two.
waypoints:
-
time: [
2.0
]
joint_positions:
qbsoftclaw: [-
0.35
,
0.0
]
-
time: [
4.0
]
joint_positions:
qbsoftclaw: [
0.35
,
0.0
]
-
time: [
6.0
]
joint_positions:
qbsoftclaw: [
0.78
,
0.0
]
-
time: [
8.0
,
8.2
]
joint_positions:
qbsoftclaw: [
1.0
,
0.0
]
...
