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Gogiputtar/config files (#77)
* All impedance control examples now utilize just config files * Damping example is now fully initialized by config file * Grav comp example is now fully initialized by config file * AR kit example is now fully initialized by config file * MobileIO control example is fully initialized by config file * Basic teach repeat example fully initialized by config file * Created rudimentary skeleton for mobile bases * Added layout files from #71 * Changed skeleton to conform to new standard of robot configurations * HRDF and gains paths now point to the correct files * All config files include the correct mobileIO json files * All examples involving a mobileIO have a corresponding json * incorporated create_mobile_io_from_config * ex_AR_kit_w_gripper fully integrated with config files * Teach repeat with gripper integrated with example Goal sending is still not functional for the gripper * Standardized config files * Incorporated .cfg -> .cfg.yaml change * demo_util handles creation of demo objects using config file mobile_io and grippers are a part of user_data * All examples integrated with create_demo_from_config * mobile bases stuff * Refactored according to new config format Streamlined with c++ API * Fixed some gripper stuff * Refactored examples to 2.7.9
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‎kits/arm/config/ex_AR_kit.cfg.yaml‎

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# 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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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: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0
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user_data:
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# Joint angles at home for AR demo: [0, pi/3, 2*pi/3, 5*pi/6, -pi/2, 0]
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home_position: [0, 1.0471975511965976, 2.0943951023931953, 2.6179938779914944, -1.5707963267948966, 0] # radians
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# Time taken for a steady motion to the home position
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soft_start_time: 4 # seconds
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# Displacements of the phone are scaled by this value to give displacement of the end-effector
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xyz_scale: 0.75
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mobile_io_family: "Arm"
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mobile_io_name: "mobileIO"
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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
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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-2240-06G.hrdf"
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gains:
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default: "gains/A-2240-06.xml"
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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: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0
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user_data:
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# Joint angles at home for AR demo: [0, pi/3, pi/2, 2*pi/3, -pi/2, 0]
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home_position: [0, 1.0471975511965976, 1.5707963267948966, 2.0943951023931953, -1.5707963267948966, 0] # radians
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# Time taken for a steady motion to the home position
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soft_start_time: 4 # seconds
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# Displacements of the phone are scaled by this value to give displacement of the end-effector
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xyz_scale: 0.75
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gripper_family: "Arm"
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gripper_name: "gripperSpool"
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gripper_gains: "gains/gripper_spool_gains.xml"
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gripper_close_effort: -5.0 # (Nm) Effort applied to close the gripper. More negative effort will pinch the gripper harder.
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gripper_open_effort: 1.0 # (Nm) Effort applied to open the gripper. More positive effort will NOT make the gripper harder to close.
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mobile_io_family: "Arm"
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mobile_io_name: "mobileIO"
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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
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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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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: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0

‎kits/arm/config/ex_gravity_compensation_toggle.cfg.yaml‎

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# 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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plugins:
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- type: GravityCompensationEffort
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name: gravComp
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enabled: false
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ramp_time: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0
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user_data:
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mobile_io_family: "Arm"
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mobile_io_name: "mobileIO"
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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
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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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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: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0
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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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# These gains correspond to a translational spring which maintains position but not orientation
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- type: ImpedanceController
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name: impedanceController
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enabled: true
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ramp_time: 0
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gains_in_end_effector_frame: true
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kp: [300, 300, 300, 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: [20, 20, 20, 0, 0, 0]
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i_clamp: [10, 10, 10, 0, 0, 0] # max value
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user_data:
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mobile_io_family: "Arm"
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mobile_io_name: "mobileIO"
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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
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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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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: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0
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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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# These gains are initialized to zero as the will be changed over the course of the damping example
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- type: ImpedanceController
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name: impedanceController
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enabled: true
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ramp_time: 0
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gains_in_end_effector_frame: false
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kp: [0, 0, 0, 0, 0, 0] # (N/m) or (Nm/rad)
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kd: [0, 0, 0, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
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# Any extra configuration data is stored here
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user_data:
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# Distance above the base for overdamped, critically damped, and underdamped cases respectively
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lower_limits: [0.0, 0.15, 0.3] # (m)
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overdamped_kp: [100, 100, 0, 5, 5, 1] # (N/m) or (Nm/rad)
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overdamped_kd: [15, 15, 1, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
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critically_damped_kp: [100, 100, 0, 5, 5, 1] # (N/m) or (Nm/rad)
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critically_damped_kd: [5, 5, 1, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
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underdamped_kp: [100, 100, 0, 5, 5, 1] # (N/m) or (Nm/rad)
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underdamped_kd: [0, 0, 0, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
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mobile_io_family: "Arm"
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mobile_io_name: "mobileIO"
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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
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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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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: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0
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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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# These gains correspond to a controller that rigidly maintains a fixed pose
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- type: ImpedanceController
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name: impedanceController
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enabled: true
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ramp_time: 0
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gains_in_end_effector_frame: true
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kp: [300, 300, 300, 5, 5, 1] # (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: [20, 20, 20, 0.5, 0.5, 0.5]
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i_clamp: [10, 10, 10, 1, 1, 1] # max value
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user_data:
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mobile_io_family: "Arm"
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mobile_io_name: "mobileIO"
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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
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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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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: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0
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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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# These gains correspond to the stiffness of the virtual floor
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- type: ImpedanceController
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name: impedanceController
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enabled: true
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ramp_time: 0
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gains_in_end_effector_frame: true
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kp: [500, 500, 500, 5, 5, 1] # (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: [20, 20, 20, 0.5, 0.5, 0.5]
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i_clamp: [10, 10, 10, 1, 1, 1] # max value
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user_data:
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mobile_io_family: "Arm"
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mobile_io_name: "mobileIO"
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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
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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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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: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0
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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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# These gains correspond to a rotational spring emulating a gimbal
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- type: ImpedanceController
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name: impedanceController
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enabled: true
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ramp_time: 0
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gains_in_end_effector_frame: true
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kp: [0, 0, 0, 8, 8, 1] # (N/m) or (Nm/rad)
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kd: [0, 0, 0, 0, 0, 0] # (N/(m/sec)) or (Nm/(rad/sec))
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ki: [0, 0, 0, 0.5, 0.5, 0.5]
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i_clamp: [0, 0, 0, 1, 1, 1] # max value
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user_data:
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mobile_io_family: "Arm"
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mobile_io_name: "mobileIO"
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mobile_io_layout: "layouts/ex_impedance_control_gimbal.json"

‎kits/arm/config/ex_mobile_io_control.cfg.yaml‎

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# 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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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: 0
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- type: DynamicsCompensationEffort
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name: dynamicsComp
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enabled: true
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ramp_time: 0
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user_data:
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# Three waypoints for Buttons - B1, B2, B3
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waypoint_1: [0, 0, 0, 0, 0, 0]
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waypoint_2: [0.7853981633974483, 1.0471975511965976, 2.0943951023931953, 1.0471975511965976, 0.7853981633974483, 0] # [pi/4, pi/3, 2*pi/3, pi/3, pi/4, 0]
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waypoint_3: [-0.7853981633974483, 1.0471975511965976, 2.0943951023931953, 1.0471975511965976, 2.356194490192345, 0] # [-pi/4, pi/3, 2*pi/3, pi/3, 3*pi/4, 0]
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# Time taken to travel to a waypoint
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travel_time: 3 # seconds
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mobile_io_family: "Arm"
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mobile_io_name: "mobileIO"
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mobile_io_layout: "layouts/ex_mobile_io_control.json"

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