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Transform and sign reflect inverse dynamics #2

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Transform and sign reflect inverse dynamics #2

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10 changes: 3 additions & 7 deletions resources/external_control.urscript
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Original file line number Diff line number Diff line change
Expand Up @@ -311,11 +311,7 @@ end
# Get the measured wrench at the tool flange
def get_flange_wrench():
local ft = get_tcp_force() #Tcp force returns the force and torques at the tool flange with base orientation
local t_end_base = pose_trans(get_target_tcp_pose(), pose_inv(get_tcp_offset()))
local current_rot_in_tool = pose_inv(p[0, 0, 0, t_end_base[3], t_end_base[4], t_end_base[5]])
local f = pose_trans(current_rot_in_tool, p[ft[0], ft[1], ft[2], 0, 0, 0])
local t = pose_trans(current_rot_in_tool, p[ft[3], ft[4], ft[5], 0, 0, 0])
return [f[0], f[1], f[2], t[0], t[1], t[2]]
return [ft[0], ft[1], ft[2], ft[3], ft[4], ft[5]]
end

thread resolvedAccelerationThread():
Expand All @@ -325,7 +321,7 @@ thread resolvedAccelerationThread():
while control_mode == MODE_RESOLVED_ACCELERATION:
# We do the transformation in the tool flange frame.
local external_torque = transpose(get_jacobian(tcp=p[0,0,0,0,0,0])) * get_flange_wrench()
local tau = get_mass_matrix(include_rotor_inertia=True) * cmd_acceleration + get_coriolis_and_centrifugal_torques() + external_torque
local tau = get_mass_matrix(include_rotor_inertia=True) * cmd_acceleration + get_coriolis_and_centrifugal_torques() - external_torque
directTorqueControlCall(tau)
end
textmsg("ExternalControl: Resolved acceleration thread ended")
Expand All @@ -338,7 +334,7 @@ thread resolvedAccelerationThread():
while control_mode == MODE_RESOLVED_ACCELERATION:
# We do the transformation in the tool flange frame.
local external_torque = transpose(get_jacobian(tcp=p[0,0,0,0,0,0])) * get_flange_wrench()
local tau = get_mass_matrix(include_rotor_inertia=True) * cmd_acceleration + get_coriolis_and_centrifugal_torques() + external_torque
local tau = get_mass_matrix(include_rotor_inertia=True) * cmd_acceleration + get_coriolis_and_centrifugal_torques() - external_torque
directTorqueControlCall(tau)
end
textmsg("ExternalControl: Resolved acceleration thread ended")
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