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Found 2 results

  1. Hello, I am setting up the Sawyer in the Mujoco physics simulator, but I have some trouble finding information on the joint velocity controller. More specifically, I am interested to know what happens when we set joint velocities using the set_joint_velocities method on the Limb class . I assume it uses a PID contoller to convert the commanded velocities to low level signals on the arms, but I would like to know the process more precisely. For instance, what are the velocities mapped to and what is the type of controller and what are its corresponding gains? I am trying to understand how the actuation model works in a bit more detail so I can set up the simulation adequately, apologies if I missed some documentation somewhere that goes through the information I am looking for. Thanks!
  2. jorgegalds_DON

    Gripper Joystick Controller

    Hello everyone, So I was trying to test the Gripper Joystick Controller found at the Intera Examples. I have a PS3 controller and have successfully paired it to my ROS using the ps3/Joy tutorial. But when I follow the Intera tutorial on how to run the program, I am always facing the error "IndexError: tuple index out of range". I know it is not the same nut I tried the Gripper Keyboard example and that one worked perfectly on my Sawyer. If someone has experience running this example I would greatly appreciate the advice. I might also text it using an Xbox 360 controller but I think it should be working as it is because the connection is stable with the PS3 one. Thanks in advance for any advice. -Jorge