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tactile sensor in drcsim 2.6

asked 2013-05-22 11:55:47 -0600

Cherry gravatar image

updated 2013-05-22 11:56:14 -0600

Hi, all I have a question on the tactile sensor for drcsim 2.6. I saw there is a rostopic in drc user guide here: http://gazebosim.org/wiki/DRC/UserGuide And I let the robot grasp a drill and I echo the rostopic: /sandiahands/lhand/tactile_raw I got the following results:

header: seq: 13628 stamp: secs: 13 nsecs: 663000000 frame_id: '' f0: [26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500] f1: [26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500] f2: [26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500] f3: [26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500] palm: [26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500, 26500]

I don't really know what the results mean. Is there a tutorial on how to use the tactile sensor?

Thanks Cherry

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answered 2013-05-22 13:40:25 -0600

iche033 gravatar image

I've just updated the user guide. f0 ~ f3 and palm contain an array of sensors on the fingers and palm respectively. The location of each tactile sensor can be found on the spec sheet in the description column. The output value ranges from 26500 to 33500, where 26500 typically means zero or minimal force detected by the tactile sensor.

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Asked: 2013-05-22 11:55:47 -0600

Seen: 137 times

Last updated: May 22 '13