QB Robotics SoftClaw Manual page 32

28 — SOFTWARE
To start this mode just add
the opposite
use_controller_gui
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
file in the directory. In the second case you need to set the argument
config
when launching the command from the terminal (in this case
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
# - joint_positions:
# - shaft position [radians] and stiffness preset [0,1];
# - joint_velocities: optional, use it only
# - shaft position [radians/s] and stiffness preset [0,1]/s;
# - joint_accelerations: optional, use it only
# - shaft position [radians/s^2] and stiffness preset [0,1]/s^2;
#
# It is worth noting that,
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]
...
UNIVERSAL ROBOTS MANUAL — MAR 9, 2023 — RELEASE: V1.0.3
use_waypoints:=true
is not used). You won't see any control interface in this case but the
if you want a nonzero values
if you want a nonzero values
if specified, joint_positions, joint_velocities and joint_accelerations must be of size two.
to the general
or add another custom application-specific
device_name = qbsoftclaw
for which joint_positions hold
command (be sure that
roslaunch
device_name
properly
).