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iai_pr2_cart_cart_control.yaml
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#
# Copyright (C) 2015-2016 Georg Bartels <[email protected]>
#
# This file is part of giskard.
#
# giskard is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#
scope:
# definition of some nice short-cuts
- unit_x: {vector3: [1, 0, 0]}
- unit_y: {vector3: [0, 1, 0]}
- unit_z: {vector3: [0, 0, 1]}
# definition of joint input variables
- torso_lift_joint: {input-var: 0}
- l_shoulder_pan_joint: {input-var: 1}
- l_shoulder_lift_joint: {input-var: 2}
- l_upper_arm_roll_joint: {input-var: 3}
- l_elbow_flex_joint: {input-var: 4}
- l_forearm_roll_joint: {input-var: 5}
- l_wrist_flex_joint: {input-var: 6}
- l_wrist_roll_joint: {input-var: 7}
- r_shoulder_pan_joint: {input-var: 8}
- r_shoulder_lift_joint: {input-var: 9}
- r_upper_arm_roll_joint: {input-var: 10}
- r_elbow_flex_joint: {input-var: 11}
- r_forearm_roll_joint: {input-var: 12}
- r_wrist_flex_joint: {input-var: 13}
- r_wrist_roll_joint: {input-var: 14}
# definition goal input variables
- l_goal_x: {input-var: 15}
- l_goal_y: {input-var: 16}
- l_goal_z: {input-var: 17}
- l_goal_rot_z: {input-var: 18}
- l_goal_rot_y: {input-var: 19}
- l_goal_rot_x: {input-var: 20}
- r_goal_x: {input-var: 21}
- r_goal_y: {input-var: 22}
- r_goal_z: {input-var: 23}
- r_goal_rot_z: {input-var: 24}
- r_goal_rot_y: {input-var: 25}
- r_goal_rot_x: {input-var: 26}
# definition of joint transforms
- torso_lift:
frame: [{axis-angle: [unit_x, 0]}, {vector3: [-0.05, 0, {double-add: [0.739675, torso_lift_joint]}]}]
- l_shoulder_pan:
frame: [{axis-angle: [unit_z, l_shoulder_pan_joint]}, {vector3: [0.0, 0.188, 0.0]}]
- l_shoulder_lift:
frame: [{axis-angle: [unit_y, l_shoulder_lift_joint]}, {vector3: [0.1, 0, 0]}]
- l_upper_arm_roll:
frame: [{axis-angle: [unit_x, l_upper_arm_roll_joint]}, {vector3: [0, 0, 0]}]
- l_elbow_flex:
frame: [{axis-angle: [unit_y, l_elbow_flex_joint]}, {vector3: [0.4, 0, 0]}]
- l_forearm_roll:
frame: [{axis-angle: [unit_x, l_forearm_roll_joint]}, {vector3: [0, 0, 0]}]
- l_wrist_flex:
frame: [{axis-angle: [unit_y, l_wrist_flex_joint]}, {vector3: [0.321, 0, 0]}]
- l_wrist_roll:
frame: [{axis-angle: [unit_x, l_wrist_roll_joint]}, {vector3: [0, 0, 0]}]
- l_gripper_offset:
frame: [{axis-angle: [unit_x, 0]}, {vector3: [0.2156, 0, 0]}]
- r_shoulder_pan:
frame: [{axis-angle: [unit_z, r_shoulder_pan_joint]}, {vector3: [0, -0.188, 0]}]
- r_shoulder_lift:
frame: [{axis-angle: [unit_y, r_shoulder_lift_joint]}, {vector3: [0.1, 0, 0]}]
- r_upper_arm_roll:
frame: [{axis-angle: [unit_x, r_upper_arm_roll_joint]}, {vector3: [0, 0, 0]}]
- r_elbow_flex:
frame: [{axis-angle: [unit_y, r_elbow_flex_joint]}, {vector3: [0.4, 0, 0]}]
- r_forearm_roll:
frame: [{axis-angle: [unit_x, r_forearm_roll_joint]}, {vector3: [0, 0, 0]}]
- r_wrist_flex:
frame: [{axis-angle: [unit_y, r_wrist_flex_joint]}, {vector3: [0.321, 0, 0]}]
- r_wrist_roll:
frame: [{axis-angle: [unit_x, r_wrist_roll_joint]}, {vector3: [0, 0, 0]}]
- r_gripper_offset:
frame: [{axis-angle: [unit_x, 0]}, {vector3: [0.18, 0, 0]}]
# definition of elbow FK
- left_elbow:
frame-mul:
- torso_lift
- l_shoulder_pan
- l_shoulder_lift
- l_upper_arm_roll
- l_elbow_flex
- right_elbow:
frame-mul:
- torso_lift
- r_shoulder_pan
- r_shoulder_lift
- r_upper_arm_roll
- r_elbow_flex
# defintion of EE FK
- left_ee:
frame-mul:
- left_elbow
- l_forearm_roll
- l_wrist_flex
- l_wrist_roll
- l_gripper_offset
- right_ee:
frame-mul:
- right_elbow
- r_forearm_roll
- r_wrist_flex
- r_wrist_roll
- r_gripper_offset
# control params
- pos_p_gain: 3.0
- rot_p_gain: 3.0
- pos_thresh: 0.05
- rot_thresh: 0.1
- weight_arm_joints: 0.001
- weight_torso_joint: 0.01
- weight_pos_control: 1
- weight_rot_control: 1
- weight_elbow_control: 0
- neg_vel_limit_arm_joints: -0.6
- pos_vel_limit_arm_joints: 0.6
- neg_vel_limit_torso_joint: -0.02
- pos_vel_limit_torso_joint: 0.02
# definition EE goals and control laws
# left arm position
- l_goal_trans: {vector3: [l_goal_x, l_goal_y, l_goal_z]}
- l_trans: {origin-of: left_ee}
- l_trans_error_vector: {vector-sub: [l_goal_trans, l_trans]}
- l_trans_error: {vector-norm: l_trans_error_vector}
- l_trans_scale: {double-if: [{double-sub: [pos_thresh, l_trans_error]}, 1.0, {double-div: [pos_thresh, l_trans_error]}]}
- l_trans_scaled_error: {double-mul: [l_trans_scale, l_trans_error]}
- l_trans_control: {scale-vector: [{double-mul: [pos_p_gain, l_trans_scale]}, l_trans_error_vector]}
# left arm rotation
- l_goal_rot:
rotation-mul:
- {axis-angle: [unit_z, l_goal_rot_z]}
- {axis-angle: [unit_y, l_goal_rot_y]}
- {axis-angle: [unit_x, l_goal_rot_x]}
- l_rot: {orientation-of: left_ee}
- l_rot_error: {vector-norm: {rot-vector: {rotation-mul: [{inverse-rotation: l_rot}, l_goal_rot]}}}
- l_rot_scaling:
double-if:
- {double-sub: [rot_thresh, l_rot_error]}
- 1
- {double-div: [rot_thresh, l_rot_error]}
- l_intermediate_goal_rot:
slerp:
- l_rot
- l_goal_rot
- l_rot_scaling
- l_rot_control:
scale-vector: [rot_p_gain, {rotate-vector: [l_rot, {rot-vector: {rotation-mul: [{inverse-rotation: l_rot}, l_intermediate_goal_rot]}}]}]
# right arm position
- r_goal_trans: {vector3: [r_goal_x, r_goal_y, r_goal_z]}
- r_trans: {origin-of: right_ee}
- r_trans_error_vector: {vector-sub: [r_goal_trans, r_trans]}
- r_trans_error: {vector-norm: r_trans_error_vector}
- r_trans_scale: {double-if: [{double-sub: [pos_thresh, r_trans_error]}, 1.0, {double-div: [pos_thresh, r_trans_error]}]}
- r_trans_scaled_error: {double-mul: [r_trans_scale, r_trans_error]}
- r_trans_control: {scale-vector: [{double-mul: [pos_p_gain, r_trans_scale]}, r_trans_error_vector]}
# right arm rotation
- r_goal_rot:
rotation-mul:
- {axis-angle: [unit_z, r_goal_rot_z]}
- {axis-angle: [unit_y, r_goal_rot_y]}
- {axis-angle: [unit_x, r_goal_rot_x]}
- r_rot: {orientation-of: right_ee}
- r_rot_error: {vector-norm: {rot-vector: {rotation-mul: [{inverse-rotation: r_rot}, r_goal_rot]}}}
- r_rot_scaling:
double-if:
- {double-sub: [rot_thresh, r_rot_error]}
- 1
- {double-div: [rot_thresh, r_rot_error]}
- r_intermediate_goal_rot:
slerp:
- r_rot
- r_goal_rot
- r_rot_scaling
- r_rot_control:
scale-vector: [rot_p_gain, {rotate-vector: [r_rot, {rot-vector: {rotation-mul: [{inverse-rotation: r_rot}, r_intermediate_goal_rot]}}]}]
controllable-constraints:
# torso joint
- controllable-constraint: [neg_vel_limit_torso_joint, pos_vel_limit_torso_joint, weight_torso_joint, 0, torso_lift_joint]
# left arm joints
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 1, l_shoulder_pan_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 2, l_shoulder_lift_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 3, l_upper_arm_roll_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 4, l_elbow_flex_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 5, l_forearm_roll_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 6, l_wrist_flex_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 7, l_wrist_roll_joint]
# right arm joints
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 8, r_shoulder_pan_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 9, r_shoulder_lift_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 10, r_upper_arm_roll_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 11, r_elbow_flex_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 12, r_forearm_roll_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 13, r_wrist_flex_joint]
- controllable-constraint: [neg_vel_limit_arm_joints, pos_vel_limit_arm_joints, weight_arm_joints, 14, r_wrist_roll_joint]
soft-constraints:
- soft-constraint: [{x-coord: l_trans_control}, {x-coord: l_trans_control}, weight_pos_control, {x-coord: l_trans}, left EE x-pos control slack]
- soft-constraint: [{y-coord: l_trans_control}, {y-coord: l_trans_control}, weight_pos_control, {y-coord: l_trans}, left EE y-pos control slack]
- soft-constraint: [{z-coord: l_trans_control}, {z-coord: l_trans_control}, weight_pos_control, {z-coord: l_trans}, left EE z-pos control slack]
- soft-constraint: [{x-coord: r_trans_control}, {x-coord: r_trans_control}, weight_pos_control, {x-coord: r_trans}, right EE x-pos control slack]
- soft-constraint: [{y-coord: r_trans_control}, {y-coord: r_trans_control}, weight_pos_control, {y-coord: r_trans}, right EE y-pos control slack]
- soft-constraint: [{z-coord: r_trans_control}, {z-coord: r_trans_control}, weight_pos_control, {z-coord: r_trans}, right EE z-pos control slack]
- soft-constraint: [{x-coord: l_rot_control}, {x-coord: l_rot_control}, weight_rot_control, {x-coord: {rot-vector: l_rot}}, left EE x-rot control slack]
- soft-constraint: [{y-coord: l_rot_control}, {y-coord: l_rot_control}, weight_rot_control, {y-coord: {rot-vector: l_rot}}, left EE y-rot control slack]
- soft-constraint: [{z-coord: l_rot_control}, {z-coord: l_rot_control}, weight_rot_control, {z-coord: {rot-vector: l_rot}}, left EE z-rot control slack]
- soft-constraint: [{x-coord: r_rot_control}, {x-coord: r_rot_control}, weight_rot_control, {x-coord: {rot-vector: r_rot}}, right EE x-rot control slack]
- soft-constraint: [{y-coord: r_rot_control}, {y-coord: r_rot_control}, weight_rot_control, {y-coord: {rot-vector: r_rot}}, right EE y-rot control slack]
- soft-constraint: [{z-coord: r_rot_control}, {z-coord: r_rot_control}, weight_rot_control, {z-coord: {rot-vector: r_rot}}, right EE z-rot control slack]
- soft-constraint: [-0.01, -0.01, weight_elbow_control, {y-coord: {origin-of: right_elbow}}, right elbow out control slack]
- soft-constraint: [0.01, 0.01, weight_elbow_control, {z-coord: {origin-of: right_elbow}}, right elbow up control slack]
- soft-constraint: [0.01, 0.01, weight_elbow_control, {y-coord: {origin-of: left_elbow}}, left elbow out control slack]
- soft-constraint: [0.01, 0.01, weight_elbow_control, {z-coord: {origin-of: left_elbow}}, left elbow up control slack]
hard-constraints:
- hard-constraint:
- {double-sub: [0.0115, torso_lift_joint]}
- {double-sub: [0.325, torso_lift_joint]}
- torso_lift_joint
- hard-constraint:
- {double-sub: [-0.5646, l_shoulder_pan_joint]}
- {double-sub: [2.1353, l_shoulder_pan_joint]}
- l_shoulder_pan_joint
- hard-constraint:
- {double-sub: [-0.3536, l_shoulder_lift_joint]}
- {double-sub: [1.2963, l_shoulder_lift_joint]}
- l_shoulder_lift_joint
- hard-constraint:
- {double-sub: [-0.65, l_upper_arm_roll_joint]}
- {double-sub: [3.75, l_upper_arm_roll_joint]}
- l_upper_arm_roll_joint
- hard-constraint:
- {double-sub: [-2.1213, l_elbow_flex_joint]}
- {double-sub: [-0.15, l_elbow_flex_joint]}
- l_elbow_flex_joint
- hard-constraint:
- {double-sub: [-2.0, l_wrist_flex_joint]}
- {double-sub: [-0.1, l_wrist_flex_joint]}
- l_wrist_flex_joint
- hard-constraint:
- {double-sub: [-2.1353, r_shoulder_pan_joint]}
- {double-sub: [0.5646, r_shoulder_pan_joint]}
- r_shoulder_pan_joint
- hard-constraint:
- {double-sub: [-0.3536, r_shoulder_lift_joint]}
- {double-sub: [1.2963, r_shoulder_lift_joint]}
- r_shoulder_lift_joint
- hard-constraint:
- {double-sub: [-3.75, r_upper_arm_roll_joint]}
- {double-sub: [0.65, r_upper_arm_roll_joint]}
- r_upper_arm_roll_joint
- hard-constraint:
- {double-sub: [-2.1213, r_elbow_flex_joint]}
- {double-sub: [-0.15, r_elbow_flex_joint]}
- r_elbow_flex_joint
- hard-constraint:
- {double-sub: [-2.0, r_wrist_flex_joint]}
- {double-sub: [-0.1, r_wrist_flex_joint]}
- r_wrist_flex_joint