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/**
\page news OWD News
<b>Higher data rate from Force/Torque sensor</b>
OWD now requests values from the Force/Torque sensor every CANbus
cycle for a data rate of 500Hz. [19-May-2011]
<b>New parameters for setting publish rates of OWD topics</b>
OWD now has four individual parameters to set the rate of the various
topics being published: wam_publish_frequency, hand_publish_frequency,
ft_publish_frequency, and tactile_publish_frequency. Each one
defaults to 10Hz and can be set up to the upper limit that the
particular data type is read from the CANbus (see the documentation
for more details).
<b>bhd/SetSpeed service</b>
%OWD now lets you set the speed of the hand joints for subsequent
MoveHand commands. It reuses the same service message used for
owd/SetSpeed. In the case of the hand, the velocities vector should
have four values in units of radians per second (three for the
fingers, one for the spread). The default values for the 280 hand are
2.5 for the fingers and 4.3 for the spread. The min_accel_time field
in the service message is ignored for the hand. [11-May-2011]
<b>Jacobian support added to Plugin interface</b>
Two functions have been added to the OWD::Plugin interface to assist
with writing trajectories that operate in workspace coordinates. The
function OWD::Plugin::Jacobian_times_vector multiplies the Jacobian
for the current configuration by the supplied vector in order to
transform jointspace values (velocities or torques) into workspace
values (linear/angular velocities or forces/torques). The function
OWD::Plugin::JacobianTranspose_times_vector helps you go in the other
direction (but of course the standard qualifications about using the
JacobianTranspose apply). Also, the full transformation matrix of the
end-effector frame (link7) is now available as OWD::Plugin::endpoint.
<b>SetExtraMass service call added</b>
Clients can call the SetExtraMass function to add mass properties to
any of the %WAM links. This allows for better control when the %WAM is
picking up a heavy object, for instance. [26-April-2011]
<b>%OWD Plugins</b>
%OWD now supports runtime-loadable plugins (r8821). Now you can
define custom interfaces and behaviors for %OWD without having to
modify the core code. This speeds your development time while also
making it easier to keep abreast of %OWD changes. See the
\subpage plugins page for more details. [25-Apr-2011]
<b>Model 280 Hand now keeps squeezing grasped objects</b>
The behavior of the MoveHand service call has been improved for users
with a model 280 Hand. Previously, the hand would try to move the
fingers to the commanded position, and stop once the fingers stalled
or when the end position was reached, whichever came first. This
posed a problem when grasping, because if the object shifted while
being lifted, the fingers did not close further in order to hold it
tight. Starting in revision 8086 of %OWD, once the fingers stop moving
the first time, %OWD will begin reporting their state as "state_done"
(value 1), but will turn off the TSTOP flag on the three fingers and
reissue the move command with a much lower maximum torque value. This
will cause the fingers to keep applying moderate pressure in the same
direction as they were moving, and to move when possible, up to the
same ending position. The torque value (currently 800ma) has been
chosen to be strong enough to keep applying steady pressure but low
enough so that the finger motors will not overheat if they are kept in
this condition indefinitely. This change affects F1-F3 only; the
spread behavior is unchanged. [23-Mar-2011]
<b>Corrected finger transforms</b>
Some of the transforms that %OWD published for the fingers on the 280
hand were incorrect. The code has been rewritten and is now behaving
correctly in rev. 8011. Associated with this change is a modification
to the origin of the link1.iv file used in OpenRAVE, and the
bh_link1.stl file used in RViz. New versions of both files have been
checked in to pr/public/data/ormodels/robots/barrett. [17-Mar-2011]
<b>Reorganized %Tactile messages</b>
%Tactile data message is now broken into 4 arrays: finger1, finger2,
finger3, and palm. This was requested by a user to make it easier to
identify particular tactile pads. The arrays are still all sent in a
single message (pr_msgs/BHTactile). [15-Mar-2011]
<b>Improved WAMState and TrajInfo state values</b>
The state values in WAMState and TrajInfo messages have changed
slightly in order to make it easier to infer what %OWD is currently
doing. Instead of having to look at WAMState.state to see that a
trajectory is active (state_moving) and then having to examine the
TrajInfo.state to see what's going on (running vs. paused), all the
motion states are now in WAMState.state. The state names contain the
word "traj" if a trajectory is active:
uint8 state_free=0
uint8 state_fixed=1
uint8 state_traj_active=2
uint8 state_traj_stalled=3
uint8 state_traj_paused=4
uint8 state_inactive=25
The TrajInfo.state will now contain minimal information as to whether
the trajectory is pending, active, done, or aborted. Some of the
previous state names have been deprecated and will be removed
in a future release. [15-Mar-2011]
<b>Improved routine for saving calibration values</b>
The calibration routine has been changed so that after the arm is returned to
home with grav-comp on, %OWD waits for \<return\> and then turns the motors
off so that the user can readjust the home position before pressing
shift-idle. This helps to avoid the sudden relaxation of the arm that
can throw off the saved home position values. [15-Mar-2011]
<b>Support for 280 %Tactile Sensors</b>
Can now read the full 96-cell %Tactile data from a model 280 Hand.
Along the way made many improvements in the %CANbus communication code
in order to handle multiple simultaneous requests on the bus. [23-Feb-2011]
<b>Method to lock individual joints</b>
The joint hold functionality present in calibration mode has been
extended to regular operating mode, and can be utilized with the
SetJointStiffness service call. [23-Feb-2011]
<b>Faster stops when palm touches goal</b><br>
Trajectories can now be automatically paused by inputs sensed by the wrist-mounted force/torque sensor. The result is a much faster stop with less force applied than when relying on the error torques. Currently the stop condition is a Z-force of less than -3N, but in the future this will be configurable by ROS parameters for both the hand frame and the workspace frame. To use this functionality, tare the sensor before the beginning of the trajectory, and then call the AddTrajectory service with a trajectory that has the HoldOnForceInput flag set to true. [11-Feb-2011]
<b>More robust %CANbus communication</b><br>
In light of ongoing difficulties with the Peak %CANbus card, some critical startup parts of the code are now wrapped in retry blocks, and timeout thresholds have been extended. [04-Feb-2011]
<b>Better finger movements</b><br>
Finger gains have been tuned for better performance. [03-Feb-2011]
<b>Force/Torque sensor support</b><br>
Data from the force/torque sensor is now read by owd and published as type geometry_msgs/Wrench on topic owd/forcetorque. The sensor can be tared by calling the service owd/ft_tare. [17-Dec-2010]
\verbatim
Copyright 2011 Carnegie Mellon University and Intel Corporation
\endverbatim
*/