Overview

The sr_robot_lib package is where the incoming etherCAT packets are interpreted and stored in the correct structured to be made available for the controllers.

This package also contains a class which builds the etherCAT command we want to send to the hand, based on the configuration file motor_data_polling.yaml, the data is updated at different rates.

Config files

The config folder contains most of the configuration for the hand driver (except the controller configuration):

• calibration.yaml is the calibration table for the different joints. You can calibrate the hand using the hand_calibration plugin in sr_control_gui

• friction_compensation.yaml contains the different friction maps.

• joint_to_motor_mapping.yaml is where the mapping from a given joint to a motor index is defined.

• motor_data_polling.yaml contains the different update rates.

• sensor_to_joint.yaml contains the mapping between the joints and the sensors: for example FFJ0 is the sum of FFJ1 and FFJ2, while THJ5, which is a compound sensor is the sum of THJ5a+THJ5b.