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pr2_joint_joint_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]}
- pi: 3.14159265359
- two_pi: {double-mul: [pi, 2.0]}
# 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_shoulder_pan_joint_goal: {input-var: 15}
- l_shoulder_lift_joint_goal: {input-var: 16}
- l_upper_arm_roll_joint_goal: {input-var: 17}
- l_elbow_flex_joint_goal: {input-var: 18}
- l_forearm_roll_joint_goal: {input-var: 19}
- l_wrist_flex_joint_goal: {input-var: 20}
- l_wrist_roll_joint_goal: {input-var: 21}
- r_shoulder_pan_joint_goal: {input-var: 22}
- r_shoulder_lift_joint_goal: {input-var: 23}
- r_upper_arm_roll_joint_goal: {input-var: 24}
- r_elbow_flex_joint_goal: {input-var: 25}
- r_forearm_roll_joint_goal: {input-var: 26}
- r_wrist_flex_joint_goal: {input-var: 27}
- r_wrist_roll_joint_goal: {input-var: 28}
# control params
# definition goals and control laws
- l_shoulder_pan_error: {double-sub: [l_shoulder_pan_joint_goal, l_shoulder_pan_joint]}
- l_shoulder_lift_error: {double-sub: [l_shoulder_lift_joint_goal, l_shoulder_lift_joint]}
- l_upper_arm_roll_error: {double-sub: [l_upper_arm_roll_joint_goal, l_upper_arm_roll_joint]}
- l_elbow_flex_error: {double-sub: [l_elbow_flex_joint_goal, l_elbow_flex_joint]}
- l_forearm_roll_error_unnormalized: {double-sub: [l_forearm_roll_joint_goal, l_forearm_roll_joint]}
- l_forearm_roll_error_normalized:
fmod:
- {double-add: [{fmod: [l_forearm_roll_error_unnormalized, two_pi]}, two_pi]}
- two_pi
- l_forearm_roll_error:
double-if:
- {double-sub: [l_forearm_roll_error_normalized, pi]}
- {double-sub: [l_forearm_roll_error_normalized, two_pi]}
- l_forearm_roll_error_normalized
- l_wrist_flex_error: {double-sub: [l_wrist_flex_joint_goal, l_wrist_flex_joint]}
- l_wrist_roll_error_unnormalized: {double-sub: [l_wrist_roll_joint_goal, l_wrist_roll_joint]}
- l_wrist_roll_error_normalized:
fmod:
- {double-add: [{fmod: [l_wrist_roll_error_unnormalized, two_pi]}, two_pi]}
- two_pi
- l_wrist_roll_error:
double-if:
- {double-sub: [l_wrist_roll_error_normalized, pi]}
- {double-sub: [l_wrist_roll_error_normalized, two_pi]}
- l_wrist_roll_error_normalized
- r_shoulder_pan_error: {double-sub: [r_shoulder_pan_joint_goal, r_shoulder_pan_joint]}
- r_shoulder_lift_error: {double-sub: [r_shoulder_lift_joint_goal, r_shoulder_lift_joint]}
- r_upper_arm_roll_error: {double-sub: [r_upper_arm_roll_joint_goal, r_upper_arm_roll_joint]}
- r_elbow_flex_error: {double-sub: [r_elbow_flex_joint_goal, r_elbow_flex_joint]}
- r_forearm_roll_error_unnormalized: {double-sub: [r_forearm_roll_joint_goal, r_forearm_roll_joint]}
- r_forearm_roll_error_normalized:
fmod:
- {double-add: [{fmod: [r_forearm_roll_error_unnormalized, two_pi]}, two_pi]}
- two_pi
- r_forearm_roll_error:
double-if:
- {double-sub: [r_forearm_roll_error_normalized, pi]}
- {double-sub: [r_forearm_roll_error_normalized, two_pi]}
- r_forearm_roll_error_normalized
- r_wrist_flex_error: {double-sub: [r_wrist_flex_joint_goal, r_wrist_flex_joint]}
- r_wrist_roll_error_unnormalized: {double-sub: [r_wrist_roll_joint_goal, r_wrist_roll_joint]}
- r_wrist_roll_error_normalized:
fmod:
- {double-add: [{fmod: [r_wrist_roll_error_unnormalized, two_pi]}, two_pi]}
- two_pi
- r_wrist_roll_error:
double-if:
- {double-sub: [r_wrist_roll_error_normalized, pi]}
- {double-sub: [r_wrist_roll_error_normalized, two_pi]}
- r_wrist_roll_error_normalized
# some constants
- weight_arm_joints: 0.001
- weight_torso_joint: 0.01
- weight_pos_control: 1
- 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
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: [l_shoulder_pan_error, l_shoulder_pan_error , weight_pos_control, l_shoulder_pan_joint, l_shoulder_pan_joint control slack]
- soft-constraint: [l_shoulder_lift_error, l_shoulder_lift_error , weight_pos_control, l_shoulder_lift_joint, l_shoulder_lift_joint control slack]
- soft-constraint: [l_upper_arm_roll_error, l_upper_arm_roll_error , weight_pos_control, l_upper_arm_roll_joint, l_upper_arm_roll_joint control slack]
- soft-constraint: [l_elbow_flex_error, l_elbow_flex_error , weight_pos_control, l_elbow_flex_joint, l_elbow_flex_joint control slack]
- soft-constraint: [l_forearm_roll_error, l_forearm_roll_error , weight_pos_control, l_forearm_roll_joint, l_forearm_roll_joint control slack]
- soft-constraint: [l_wrist_flex_error, l_wrist_flex_error , weight_pos_control, l_wrist_flex_joint, l_wrist_flex_joint control slack]
- soft-constraint: [l_wrist_roll_error, l_wrist_roll_error , weight_pos_control, l_wrist_roll_joint, l_wrist_roll_joint control slack]
- soft-constraint: [r_shoulder_pan_error, r_shoulder_pan_error , weight_pos_control, r_shoulder_pan_joint, r_shoulder_pan_joint control slack]
- soft-constraint: [r_shoulder_lift_error, r_shoulder_lift_error , weight_pos_control, r_shoulder_lift_joint, r_shoulder_lift_joint control slack]
- soft-constraint: [r_upper_arm_roll_error, r_upper_arm_roll_error , weight_pos_control, r_upper_arm_roll_joint, r_upper_arm_roll_joint control slack]
- soft-constraint: [r_elbow_flex_error, r_elbow_flex_error , weight_pos_control, r_elbow_flex_joint, r_elbow_flex_joint control slack]
- soft-constraint: [r_forearm_roll_error, r_forearm_roll_error , weight_pos_control, r_forearm_roll_joint, r_forearm_roll_joint control slack]
- soft-constraint: [r_wrist_flex_error, r_wrist_flex_error , weight_pos_control, r_wrist_flex_joint, r_wrist_flex_joint control slack]
- soft-constraint: [r_wrist_roll_error, r_wrist_roll_error , weight_pos_control, r_wrist_roll_joint, r_wrist_roll_joint 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