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cwbollingercwbollinger
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Update config rebase to fix conflicts
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‎kits/arm/config/A-2084-01.cfg.yaml‎

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# X-Series 4-DoF SCARA Arm
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist"]
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hrdf: "hrdf/A-2084-01.hrdf"
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gains:
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default: "gains/A-2084-01.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0.01, 1.0, 2.5, 1.5]
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 5
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 5
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# Kits with a gas spring need to add a shoulder compensation torque.
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# It should be around -7 Nm for most kits, but it may need to be tuned
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# for your specific setup.
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- name: 'gasSpringCompensation'
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type: EffortOffset
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enabled: false
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ramp_time: 5
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offset: [0, -7, 0, 0]

‎kits/arm/config/A-2085-03.cfg.yaml‎

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# X-Series 3-DoF Arm
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder", "J3_elbow"]
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hrdf: "hrdf/A-2085-03.hrdf"
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gains:
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default: "gains/A-2085-03.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0.01, 1.0, 2.5]
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 5
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 5
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# Kits with a gas spring need to add a shoulder compensation torque.
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# It should be around -7 Nm for most kits, but it may need to be tuned
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# for your specific setup.
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- name: 'gasSpringCompensation'
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type: EffortOffset
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enabled: false
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ramp_time: 5
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offset: [0, -7, 0]

‎kits/arm/config/A-2085-04.cfg.yaml‎

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# X-Series 4-DoF Arm
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist"]
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hrdf: "hrdf/A-2085-04.hrdf"
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gains:
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default: "gains/A-2085-04.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0.01, 1.0, 2.5, 1.5]
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 5
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 5
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# Kits with a gas spring need to add a shoulder compensation torque.
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# It should be around -7 Nm for most kits, but it may need to be tuned
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# for your specific setup.
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- name: 'gasSpringCompensation'
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type: EffortOffset
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enabled: false
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ramp_time: 5
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offset: [0, -7, 0, 0]

‎kits/arm/config/A-2085-05.cfg.yaml‎

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# X-Series 5-DoF Arm
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version: 1.0
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2"]
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hrdf: "hrdf/A-2085-05.hrdf"
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gains:
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default: "gains/A-2085-05.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0.01, 1.0, 2.5, 1.5, -1.5]
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 5
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 5
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# Kits with a gas spring need to add a shoulder compensation torque.
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# It should be around -7 Nm for most kits, but it may need to be tuned
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# for your specific setup.
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- name: 'gasSpringCompensation'
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type: EffortOffset
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enabled: false
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ramp_time: 5
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offset: [0, -7, 0, 0, 0]

‎kits/arm/config/A-2085-05G.cfg.yaml‎

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# X-Series 5-DoF Arm with Gripper
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version: 1.0
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2"]
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hrdf: "hrdf/A-2085-05G.hrdf"
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gains:
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default: "gains/A-2085-05.xml"
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gripper: "gains/A-2080-01.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0.01, 1.0, 2.5, 1.5, -1.5]
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# Gripper specific settings
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has_gripper: true
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gripper_open_effort: 1
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gripper_close_effort: -5
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 5
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 5
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# Kits with a gas spring need to add a shoulder compensation torque.
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# It should be around -7 Nm for most kits, but it may need to be tuned
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# for your specific setup.
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- name: 'gasSpringCompensation'
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type: EffortOffset
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enabled: false
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ramp_time: 5
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offset: [0, -7, 0, 0, 0]

‎kits/arm/config/A-2085-06.cfg.yaml‎

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# X-Series 6-DoF Arm
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version: 1.0
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
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hrdf: "hrdf/A-2085-06.hrdf"
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gains:
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default: "gains/A-2085-06.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0.01, 1.0, 2.5, 1.5, -1.5, 0.01]
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 5
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 5
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# An impedance controller adds a virtual spring to the
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# end-effector and can improve tracking. It can be enabled
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# by setting 'enabled' to true. The gains are in the form of
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# [x, y, z, rx, ry, rz]. Setting gains of zero deactivates
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# the corresponding degree of translation or rotation.
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- type: ImpedanceController
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name: impedanceController
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enabled: false
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ramp_time: 5
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gains_in_end_effector_frame: true
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kp: [50, 50, 50, 0, 0, 0] # (N/m) or (Nm/rad)
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kd: [5, 5, 5, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
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ki: [0, 0, 1, 0, 0, 0]
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i_clamp: [10, 10, 10, 10, 10, 10] # max value
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# Kits with a gas spring need to add a shoulder compensation torque.
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# It should be around -7 Nm for most kits, but it may need to be tuned
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# for your specific setup.
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- type: EffortOffset
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name: gasSpringCompensation
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enabled: false # disabled by default as the default configuration ships without one
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ramp_time: 5
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offset: [0, -7, 0, 0, 0, 0]

‎kits/arm/config/A-2085-06G.cfg.yaml‎

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# X-Series 6-DoF Arm with Gripper
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version: 1.0
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist1", "J5_wrist2", "J6_wrist3"]
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hrdf: "hrdf/A-2085-06G.hrdf"
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gains:
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default: "gains/A-2085-06.xml"
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gripper: "gains/A-2080-01.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0.01, 1.0, 2.5, 1.5, -1.5, 0.01]
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# Gripper specific settings
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has_gripper: true
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gripper_open_effort: 1
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gripper_close_effort: -5
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 5
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 5
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# An impedance controller adds a virtual spring to the
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# end-effector and can improve tracking. It can be enabled
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# by setting 'enabled' to true. The gains are in the form of
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# [x, y, z, rx, ry, rz]. Setting gains of zero deactivates
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# the corresponding degree of translation or rotation.
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- type: ImpedanceController
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name: impedanceController
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enabled: false
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ramp_time: 5
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gains_in_end_effector_frame: true
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kp: [50, 50, 50, 0, 0, 0] # (N/m) or (Nm/rad)
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kd: [5, 5, 5, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
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ki: [0, 0, 1, 0, 0, 0]
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i_clamp: [10, 10, 10, 10, 10, 10] # max value
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# Kits with a gas spring need to add a shoulder compensation torque.
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# It should be around -7 Nm for most kits, but it may need to be tuned
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# for your specific setup.
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- type: EffortOffset
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name: gasSpringCompensation
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enabled: false # disabled by default as the default configuration ships without one
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ramp_time: 5
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offset: [0, -7, 0, 0, 0, 0]

‎kits/arm/config/A-2099-07.cfg.yaml‎

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# T-Series 6-DoF Arm with Gripper
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version: 1.0
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder1A", "J3_shoulder2", "J4_elbow1", "J5_elbow2", "J6_wrist1", "J7_wrist2"]
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hrdf: "hrdf/A-2099-07.hrdf"
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gains:
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default: "gains/A-2099-07.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0, -1, 0, 1.5, 0, 0, 0]
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 2
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 2
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- name: 'DoubleShoulder'
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type: DoubledJointMirror
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enabled: true
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group_Family: ["Arm"]
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group_name: ["J2_shoulder1B"]
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index: 2

‎kits/arm/config/A-2099-07G.cfg.yaml‎

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# X-Series 6-DoF Arm with Gripper
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version: 1.0
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder1A", "J3_shoulder2", "J4_elbow1", "J5_elbow2", "J6_wrist1", "J7_wrist2"]
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hrdf: "hrdf/A-2099-07G.hrdf"
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gains:
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default: "gains/A-2099-01-7.xml"
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gripper: "gains/A-2080-01.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0, 1, 0, 0, -1.5, 0, 0]
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# Gripper specific settings
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has_gripper: true
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gripper_open_effort: 1
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gripper_close_effort: -5
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 2
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 2
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- name: 'DoubleShoulder'
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type: DoubledJointMirror
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enabled: true
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group_Family: ["Arm"]
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group_name: ["J2_shoulder1B"]
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index: 2

‎kits/arm/config/A-2240-04.cfg.yaml‎

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# R-Series 4-DoF Arm
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version: 1.0
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families: ["Arm"]
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names: ["J1_base", "J2_shoulder", "J3_elbow", "J4_wrist"]
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hrdf: "hrdf/A-2240-04.hrdf"
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gains:
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default: "gains/A-2240-04.xml"
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user_data:
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# Default seed positions for doing inverse kinematics
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ik_seed_pos: [0.01, 1.0, 2.5, 1.5]
13+
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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: true
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ramp_time: 5
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 5
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# Kits with a gas spring need to add a shoulder compensation torque.
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# It should be around -7 Nm for most kits, but it may need to be tuned
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# for your specific setup.
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- name: 'gasSpringCompensation'
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type: EffortOffset
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enabled: false
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ramp_time: 5
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offset: [0, -7, 0, 0]

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