Impedance control ex

kits/arm/config/ex_AR_kit.cfg.yaml

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+# 6-DoF Arm
+version: 1.0
+families: ["Arm"]
+names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
+hrdf: "hrdf/A-2085-06.hrdf"
+
+gains:
+  default: "gains/A-2085-06.xml"
+
+plugins:
+
+  - type: GravityCompensationEffort
+    name: gravComp
+    enabled: true
+    ramp_time: 0
+
+  - type: DynamicsCompensationEffort
+    name: dynamicsComp
+    enabled: true
+    ramp_time: 0
+
+user_data:
+
+  # Joint angles at home for AR demo: [0, pi/3, 2*pi/3, 5*pi/6, -pi/2, 0]
+  home_position: [0, 1.0471975511965976, 2.0943951023931953, 2.6179938779914944, -1.5707963267948966, 0] # radians
+
+  # Time taken for a steady motion to the home position
+  homing_duration: 4 # seconds
+
+  # Latency in tracking the AR pose. Increase this to avoid jerks
+  latency: 0.3 # seconds
+
+  # Displacements of the phone are scaled by this value to give displacement of the end-effector
+  xyz_scale: 0.75
+
+  mobile_io_family: "Arm"
+  mobile_io_name: "mobileIO"
+  mobile_io_layout: "layouts/ex_AR_kit.json"

kits/arm/config/ex_AR_kit_w_gripper.cfg.yaml

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+# 6-DoF Arm
+version: 1.0
+families: ["Arm"]
+names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
+hrdf: "hrdf/A-2240-06G.hrdf"
+
+gains:
+  default: "gains/A-2240-06.xml"
+
+plugins:
+
+  - type: GravityCompensationEffort
+    name: gravComp
+    enabled: true
+    ramp_time: 0
+
+  - type: DynamicsCompensationEffort
+    name: dynamicsComp
+    enabled: true
+    ramp_time: 0
+
+user_data:
+
+  # Joint angles at home for AR demo: [0, pi/3, pi/2, 2*pi/3, -pi/2, 0]
+  home_position: [0, 1.0471975511965976, 1.5707963267948966, 2.0943951023931953, -1.5707963267948966, 0] # radians
+
+  # Time taken for a steady motion to the home position
+  homing_duration: 4 # seconds
+
+  # Latency in tracking the AR pose. Increase this to avoid jerks
+  latency: 0.3 # seconds
+
+  # Displacements of the phone are scaled by this value to give displacement of the end-effector
+  xyz_scale: 0.75
+
+  gripper_family: "Arm"
+  gripper_name: "gripperSpool"
+  gripper_gains: "gains/gripper_spool_gains.xml"
+  gripper_close_effort: -5.0 # (Nm) Effort applied to close the gripper. More negative effort will pinch the gripper harder.
+  gripper_open_effort: 1.0 # (Nm) Effort applied to open the gripper. More positive effort will NOT make the gripper harder to close.
+
+  mobile_io_family: "Arm"
+  mobile_io_name: "mobileIO"
+  mobile_io_layout: "layouts/ex_AR_kit_w_gripper.json"

kits/arm/config/ex_gravity_compensation.cfg.yaml

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+# 6-DoF Arm
+version: 1.0
+families: ["Arm"]
+names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
+hrdf: "hrdf/A-2085-06.hrdf"
+
+gains:
+  default: "gains/A-2085-06.xml"
+
+plugins:
+
+  - type: GravityCompensationEffort
+    name: gravComp
+    enabled: true
+    ramp_time: 0
+
+  - type: DynamicsCompensationEffort
+    name: dynamicsComp
+    enabled: true
+    ramp_time: 0

kits/arm/config/ex_gravity_compensation_toggle.cfg.yaml

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+# 6-DoF Arm
+version: 1.0
+families: ["Arm"]
+names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
+hrdf: "hrdf/A-2085-06.hrdf"
+
+gains:
+  default: "gains/A-2085-06.xml"
+
+plugins:
+
+  - type: GravityCompensationEffort
+    name: gravComp
+    enabled: false
+    ramp_time: 0
+
+  - type: DynamicsCompensationEffort
+    name: dynamicsComp
+    enabled: true
+    ramp_time: 0
+
+user_data:
+
+  mobile_io_family: "Arm"
+  mobile_io_name: "mobileIO"
+  mobile_io_layout: "layouts/ex_gravity_compensation_toggle.json"

kits/arm/config/ex_impedance_control_cartesian.cfg.yaml

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+# 6-DoF Arm
+version: 1.0
+families: ["Arm"]
+names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
+hrdf: "hrdf/A-2085-06.hrdf"
+
+gains:
+  default: "gains/A-2085-06.xml"
+
+plugins:
+
+  - type: GravityCompensationEffort
+    name: gravComp
+    enabled: true
+    ramp_time: 0
+
+  - type: DynamicsCompensationEffort
+    name: dynamicsComp
+    enabled: true
+    ramp_time: 0
+
+  # An impedance controller adds a virtual spring to the
+  # end-effector and can improve tracking. It can be enabled
+  # by setting 'enabled' to true. The gains are in the form of
+  # [x, y, z, rx, ry, rz]. Setting gains of zero deactivates
+  # the corresponding degree of translation or rotation.
+  # These gains correspond to a translational spring which maintains position but not orientation
+  - type: ImpedanceController
+    name: impedanceController
+    enabled: true
+    ramp_time: 0
+    gains_in_end_effector_frame: true
+    kp: [300, 300, 300, 0, 0, 0] # (N/m) or (Nm/rad)
+    kd: [5, 5, 5, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
+    ki: [20, 20, 20, 0, 0, 0]
+    i_clamp: [10, 10, 10, 0, 0, 0] # max value
+
+user_data:
+
+  mobile_io_family: "Arm"
+  mobile_io_name: "mobileIO"
+  mobile_io_layout: "layouts/ex_impedance_control_cartesian.json"

kits/arm/config/ex_impedance_control_damping.cfg.yaml

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+# 6-DoF Arm
+version: 1.0
+families: ["Arm"]
+names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
+hrdf: "hrdf/A-2085-06.hrdf"
+
+gains:
+  default: "gains/A-2085-06.xml"
+
+plugins:
+
+  - type: GravityCompensationEffort
+    name: gravComp
+    enabled: true
+    ramp_time: 0
+
+  - type: DynamicsCompensationEffort
+    name: dynamicsComp
+    enabled: true
+    ramp_time: 0
+
+  # An impedance controller adds a virtual spring to the
+  # end-effector and can improve tracking. It can be enabled
+  # by setting 'enabled' to true. The gains are in the form of
+  # [x, y, z, rx, ry, rz]. Setting gains of zero deactivates
+  # the corresponding degree of translation or rotation.
+  # These gains are initialized to zero as the will be changed over the course of the damping example
+  - type: ImpedanceController
+    name: impedanceController
+    enabled: true
+    ramp_time: 0
+    gains_in_end_effector_frame: false
+    kp: [0, 0, 0, 0, 0, 0] # (N/m) or (Nm/rad)
+    kd: [0, 0, 0, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
+
+# Any extra configuration data is stored here
+user_data:
+
+  # Distance above the base for overdamped, critically damped, and underdamped cases respectively
+  lower_limits: [0.0, 0.15, 0.3] # (m)
+
+  overdamped_kp: [100, 100, 0, 5, 5, 1] # (N/m) or (Nm/rad)
+  overdamped_kd: [15, 15, 1, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
+
+  critically_damped_kp: [100, 100, 0, 5, 5, 1] # (N/m) or (Nm/rad)
+  critically_damped_kd: [5, 5, 1, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
+
+  underdamped_kp: [100, 100, 0, 5, 5, 1] # (N/m) or (Nm/rad)
+  underdamped_kd: [0, 0, 0, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
+
+  mobile_io_family: "Arm"
+  mobile_io_name: "mobileIO"
+  mobile_io_layout: "layouts/ex_impedance_control_damping.json"

kits/arm/config/ex_impedance_control_fixed.cfg.yaml

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+# 6-DoF Arm
+version: 1.0
+families: ["Arm"]
+names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
+hrdf: "hrdf/A-2085-06.hrdf"
+
+gains:
+  default: "gains/A-2085-06.xml"
+
+plugins:
+
+  - type: GravityCompensationEffort
+    name: gravComp
+    enabled: true
+    ramp_time: 0
+
+  - type: DynamicsCompensationEffort
+    name: dynamicsComp
+    enabled: true
+    ramp_time: 0
+
+  # An impedance controller adds a virtual spring to the
+  # end-effector and can improve tracking. It can be enabled
+  # by setting 'enabled' to true. The gains are in the form of
+  # [x, y, z, rx, ry, rz]. Setting gains of zero deactivates
+  # the corresponding degree of translation or rotation.
+  # These gains correspond to a controller that rigidly maintains a fixed pose
+  - type: ImpedanceController
+    name: impedanceController
+    enabled: true
+    ramp_time: 0
+    gains_in_end_effector_frame: true
+    kp: [300, 300, 300, 5, 5, 1] # (N/m) or (Nm/rad)
+    kd: [5, 5, 5, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
+    ki: [20, 20, 20, 0.5, 0.5, 0.5]
+    i_clamp: [10, 10, 10, 1, 1, 1] # max value
+
+user_data:
+
+  mobile_io_family: "Arm"
+  mobile_io_name: "mobileIO"
+  mobile_io_layout: "layouts/ex_impedance_control_fixed.json"

kits/arm/config/ex_impedance_control_floor.cfg.yaml

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+# 6-DoF Arm
+version: 1.0
+families: ["Arm"]
+names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
+hrdf: "hrdf/A-2085-06.hrdf"
+
+gains:
+  default: "gains/A-2085-06.xml"
+
+plugins:
+
+  - type: GravityCompensationEffort
+    name: gravComp
+    enabled: true
+    ramp_time: 0
+
+  - type: DynamicsCompensationEffort
+    name: dynamicsComp
+    enabled: true
+    ramp_time: 0
+
+  # An impedance controller adds a virtual spring to the
+  # end-effector and can improve tracking. It can be enabled
+  # by setting 'enabled' to true. The gains are in the form of
+  # [x, y, z, rx, ry, rz]. Setting gains of zero deactivates
+  # the corresponding degree of translation or rotation.
+  # These gains correspond to the stiffness of the virtual floor
+  - type: ImpedanceController
+    name: impedanceController
+    enabled: true
+    ramp_time: 0
+    gains_in_end_effector_frame: true
+    kp: [500, 500, 500, 5, 5, 1] # (N/m) or (Nm/rad)
+    kd: [5, 5, 5, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
+    ki: [20, 20, 20, 0.5, 0.5, 0.5]
+    i_clamp: [10, 10, 10, 1, 1, 1] # max value
+
+user_data:
+
+  mobile_io_family: "Arm"
+  mobile_io_name: "mobileIO"
+  mobile_io_layout: "layouts/ex_impedance_control_floor.json"

kits/arm/config/ex_impedance_control_gimbal.cfg.yaml

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+# 6-DoF Arm
+version: 1.0
+families: ["Arm"]
+names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
+hrdf: "hrdf/A-2085-06.hrdf"
+
+gains:
+  default: "gains/A-2085-06.xml"
+
+plugins:
+
+  - type: GravityCompensationEffort
+    name: gravComp
+    enabled: true
+    ramp_time: 0
+
+  - type: DynamicsCompensationEffort
+    name: dynamicsComp
+    enabled: true
+    ramp_time: 0
+
+  # An impedance controller adds a virtual spring to the
+  # end-effector and can improve tracking. It can be enabled
+  # by setting 'enabled' to true. The gains are in the form of
+  # [x, y, z, rx, ry, rz]. Setting gains of zero deactivates
+  # the corresponding degree of translation or rotation.
+  # These gains correspond to a rotational spring emulating a gimbal
+  - type: ImpedanceController
+    name: impedanceController
+    enabled: true
+    ramp_time: 0
+    gains_in_end_effector_frame: true
+    kp: [0, 0, 0, 8, 8, 1] # (N/m) or (Nm/rad)
+    kd: [0, 0, 0, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
+    ki: [0, 0, 0, 0.5, 0.5, 0.5]
+    i_clamp: [0, 0, 0, 1, 1, 1] # max value
+
+user_data:
+
+  mobile_io_family: "Arm"
+  mobile_io_name: "mobileIO"
+  mobile_io_layout: "layouts/ex_impedance_control_gimbal.json"