plug-in.task

{"id":"0_plug-in","containers":[{"elements":[{"id":"cartesian_motion","parameter":{"acceleration":0.25,"cartesian_impedance":{"access":["parent","parameter","cartesian_impedance"]},"joint_impedance":{"access":["parent","parameter","joint_impedance"]},"motion":{"access":["parameter","poses",1,"relative_trajectories",1]},"origin":{"joint_angles":[],"pose":[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]},"relative_to":{"pose":[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]},"safety":{"access":["parent","parameter","safety"]},"speed":{"access":["parent","parameter","speed"]},"velocity":0.25},"name":"Cart Motion","link":"cartesian_motion","componentProviders":{"acceleration":{"linkConfig":null,"componentLookupTable":[]},"motion":{"linkConfig":{"components":["robot-pose-carousel"],"sourceDistance":2,"parameters":{"points":["motion"]}},"componentLookupTable":[{"name":"robot-pose-carousel","sourcePath":{"id":"0_plug-in","indices":[]},"dependencies":[]}]},"velocity":{"linkConfig":null,"componentLookupTable":[]}},"enabled":true,"isTracePoint":false},{"id":"move_contact","parameter":{"acceleration":0.2,"cartesian_impedance":{"access":["parent","parameter","cartesian_impedance"]},"contact":{"orientation":1,"x":0.03,"y":0.03,"z":0.03},"joint_impedance":{"access":["parent","parameter","joint_impedance"]},"motion":{"access":["parameter","poses",2,"relative_trajectories",1]},"safety":{"access":["parent","parameter","safety"]},"speed":{"access":["parent","parameter","speed"]},"velocity":0.2},"name":"Move to contact","link":"move_contact","componentProviders":{"acceleration":{"linkConfig":null,"componentLookupTable":[]},"motion":{"linkConfig":{"components":["robot-pose-carousel"],"sourceDistance":2,"parameters":{"points":["motion"]}},"componentLookupTable":[{"name":"robot-pose-carousel","sourcePath":{"id":"0_plug-in","indices":[]},"dependencies":[]}]},"radius":{"linkConfig":null,"componentLookupTable":[]},"velocity":{"linkConfig":null,"componentLookupTable":[]}},"enabled":true,"isTracePoint":false},{"id":"lissajous","parameter":{"apply_force":true,"cartesian_impedance":{"access":["parent","parameter","cartesian_impedance"]},"duration":5,"force":{"force_tolerance":0.1,"force_x":0,"force_y":0,"force_z":5,"torque_x":0,"torque_y":0,"torque_z":0},"joint_impedance":{"access":["parent","parameter","joint_impedance"]},"safety":{"access":["parent","parameter","safety"]},"speed":1,"timescaling":{"access":["parent","parameter","speed"]},"velocity_profile":{"loopsx":2,"loopsy":3,"plane":"xy","sizex":1,"sizey":1}},"name":"Lissajous","link":"lissajous","componentProviders":{"all-forces":{"linkConfig":null,"componentLookupTable":[]},"duration":{"linkConfig":null,"componentLookupTable":[]},"force":{"linkConfig":null,"componentLookupTable":[]},"parameters":{"linkConfig":null,"componentLookupTable":[]},"plane":{"linkConfig":null,"componentLookupTable":[{"name":"alternative-selector","sourcePath":{"id":"0_plug-in","indices":[]},"dependencies":[]}]}},"enabled":true,"isTracePoint":false}],"relativePath":["timeline_body"],"isTracePoint":false}],"name":"plug-in","contextMenu":"<step id=\"speed\" name=\"Robot speed\" label=\"Set the speed of the robot's motions.\"\n  configured=\"parameter('speed')()\" class=\"flex-column\">\n  <h2 data-bind=\"html: step.label\"><br></h2>\n  <linear-slider params=\"\n    value: parameter('speed').multiply(100).round(),\n    min: 1, max: 100, increment: 1,\n    unit: '%',\n    step: step\n    \"/>\n</step>\n<step id=\"cart-comp\" name=\"Cartesian Compliance\" class=\"flex-column\"\n  label=\"Set the compliance along and around each cartesian axis. Greater compliance is given by lower values.\">\n  <h2 data-bind=\"html: step.label\"></h2>\n  <toggle-slider params=\"\n    parameters: [\n      { value: parameter('cartesian_impedance.K_x').add(-10).multiply(1/30).round(),\n        label: 'K-x',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('cartesian_impedance.K_y').add(-10).multiply(1/30).round(),\n        label: 'K-y',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('cartesian_impedance.K_z').add(-10).multiply(1/30).round(),\n        label: 'K-z',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('cartesian_impedance.K_x_rot').add(-1).multiply(1/3).round(),\n        label: 'K-x_rot',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('cartesian_impedance.K_y_rot').add(-1).multiply(1/3).round(),\n        label: 'K-y_rot',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('cartesian_impedance.K_z_rot').add(-1).multiply(1/3).round(),\n        label: 'K-z_rot',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n    ],\n    step: step\n  \"/>\n</step>\n<step id=\"joint-comp\" name=\"Joint Compliance\" class=\"flex-column\"\n  label=\"Set the compliance for each joint. Greater compliance is given by lower values.\">\n  <h2 data-bind=\"html: step.label\"></h2>\n  <toggle-slider params=\"\n    parameters: [\n      { value: parameter('joint_impedance.K_j0').add(-1).multiply(1/60).round(),\n        label: 'Joint 1',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('joint_impedance.K_j1').add(-1).multiply(1/60).round(),\n        label: 'Joint 2',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('joint_impedance.K_j2').add(-1).multiply(1/60).round(),\n        label: 'Joint 3',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('joint_impedance.K_j3').add(-1).multiply(1/60).round(),\n        label: 'Joint 4',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('joint_impedance.K_j4').add(-1).multiply(1/60).round(),\n        label: 'Joint 5',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('joint_impedance.K_j5').add(-1).multiply(1/60).round(),\n        label: 'Joint 6',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n      { value: parameter('joint_impedance.K_j6').add(-1).multiply(1/60).round(),\n        label: 'Joint 7',\n        min: 0, max: 100, increment: 1,\n        unit: '%'\n      },\n    ],\n    step: step\n  \"/>\n</step>\n<step id=\"all-force\" name=\"Force Thresholds\" class=\"flex-column\"\n  label=\"Set the force thresholds along and around each cartesian axis. Higher values will be interpreted as collisions.\">\n  <h2 data-bind=\"html: step.label\"></h2>\n  <toggle-slider params=\"\n    parameters: [\n      {value: parameter('safety.force_thresholds.x'), label: 'x', min: 3, max: 100, increment: 1, unit: 'N'},\n      {value: parameter('safety.force_thresholds.y'), label: 'y', min: 3, max: 100, increment: 1, unit: 'N'},\n      {value: parameter('safety.force_thresholds.z'), label: 'z', min: 3, max: 100, increment: 1, unit: 'N'},\n      {value: parameter('safety.force_thresholds.x_rot'), label: 'x-rot', min: 1, max: 30, increment: 1, unit: 'Nm'},\n      {value: parameter('safety.force_thresholds.y_rot'), label: 'y-rot', min: 1, max: 30, increment: 1, unit: 'Nm'},\n      {value: parameter('safety.force_thresholds.z_rot'), label: 'z-rot', min: 1, max: 30, increment: 1, unit: 'Nm'},\n    ],\n    step: step\n  \"/>\n</step>\n<step id=\"all-torque\" name=\"Torque Thresholds\" class=\"flex-column\"\n  label=\"Set the torque thresholds for each joint. Higher values will be interpreted as collisions.\">\n  <h2 data-bind=\"html: step.label\"></h2>\n  <toggle-slider params=\"\n    parameters: [\n      {value: parameter('safety.torque_thresholds.j0'), label: 'Joint 1', min: 3, max: 100, increment: 1, unit: 'Nm'},\n      {value: parameter('safety.torque_thresholds.j1'), label: 'Joint 2', min: 3, max: 100, increment: 1, unit: 'Nm'},\n      {value: parameter('safety.torque_thresholds.j2'), label: 'Joint 3', min: 3, max: 100, increment: 1, unit: 'Nm'},\n      {value: parameter('safety.torque_thresholds.j3'), label: 'Joint 4', min: 2, max: 80, increment: 1, unit: 'Nm'},\n      {value: parameter('safety.torque_thresholds.j4'), label: 'Joint 5', min: 2, max: 80, increment: 1, unit: 'Nm'},\n      {value: parameter('safety.torque_thresholds.j5'), label: 'Joint 6', min: 1, max: 40, increment: 1, unit: 'Nm'},\n      {value: parameter('safety.torque_thresholds.j6'), label: 'Joint 7', min: 1, max: 40, increment: 1, unit: 'Nm'},\n    ],\n    step: step\n  \"/>\n</step>","components":"<component name=\"grid-widget\">\n  <template src=\"base/grid_widget.html\"></template>\n  <viewmodel src=\"base/grid_widget.js\"></viewmodel>\n</component>\n<component name=\"alternative-selector\">\n  <template src=\"base/alternative_selector.html\"></template>\n  <viewmodel src=\"base/alternative_selector.js\"></viewmodel>\n</component>\n<component name=\"reset-strategy-picker\">\n  <template src=\"base/reset_strategy_picker.html\"></template>\n  <viewmodel src=\"base/reset_strategy_picker.js\"></viewmodel>\n</component>\n<component name=\"trajectory-teaching-base\">\n  <template src=\"base/trajectory_teaching_base.html\"></template>\n  <viewmodel src=\"base/trajectory_teaching_base.js\"></viewmodel>\n</component>\n<component name=\"trajectory-teaching\" linkable>\n  <template src=\"base/trajectory_teaching.html\"></template>\n  <viewmodel src=\"base/trajectory_teaching.js\"></viewmodel>\n</component>\n<component name=\"approach-retract-teaching\">\n  <template src=\"base/approach_retract_teaching.html\"></template>\n  <viewmodel src=\"base/approach_retract_teaching.js\"></viewmodel>\n</component>\n<component name=\"pose-teaching single-pose-teaching\" linkable>\n  <template src=\"base/pose_teaching.html\"></template>\n  <viewmodel src=\"base/pose_teaching.js\"></viewmodel>\n</component>\n<component name=\"two-pose-teaching\" linkable>\n  <template src=\"base/two_pose_teaching.html\"></template>\n  <viewmodel src=\"base/two_pose_teaching.js\"></viewmodel>\n</component>\n<component name=\"robot-pose single-robot-pose\" linkable>\n  <template src=\"base/robot_pose.html\"></template>\n  <viewmodel src=\"base/robot_pose.js\"></viewmodel>\n</component>\n<component name=\"robot-pose-carousel\" linkable>\n  <template src=\"base/robot_pose_carousel.html\"></template>\n  <viewmodel src=\"base/robot_pose_carousel.js\"></viewmodel>\n</component>\n<component name=\"haptic-gestures\">\n  <template src=\"base/haptic_gestures.html\"></template>\n  <viewmodel src=\"base/haptic_gestures.js\"></viewmodel>\n</component>\n<component name=\"points-list\">\n  <template src=\"base/points_list.html\"></template>\n  <viewmodel src=\"base/points_list.js\"></viewmodel>\n</component>","parameter":{"cartesian_impedance":{"K_x":2500,"K_x_rot":250,"K_y":2500,"K_y_rot":250,"K_z":2500,"K_z_rot":250},"current_teaching_reference":{"pose":[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]},"joint_impedance":{"K_j0":3500,"K_j1":3500,"K_j2":3500,"K_j3":3000,"K_j4":2500,"K_j5":2000,"K_j6":1000},"poses":[{"gripper_closed_width":-1,"gripper_open_width":-1,"pose":{"joint_angles":[],"pose":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]},"relative_trajectories":[[{"joint_angles":[0.1688948884721388,0.8777921643468477,-0.36016891071252655,-1.39411645415955,0.3020545993308161,2.209938603621942,-2.6339760061197093],"pose":[-0.9996331797980875,-0.02488916738657193,0.009735609625286938,0,-0.025195423180268295,0.9991375308854482,-0.032712870985369825,0,-0.008913188447521536,-0.0329467983758209,-0.9994173620407454,0,0.6888103961919559,-0.04452815454557545,0.09763385040737059,1]}]],"teaching_reference":{"pose":[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]}},{"gripper_closed_width":-1,"gripper_open_width":-1,"pose":{"joint_angles":[],"pose":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]},"relative_trajectories":[[{"joint_angles":[0.17080171189425458,0.8938012958226622,-0.35644539119486224,-1.4023495721649706,0.3029546816001934,2.234624389466141,-2.63284943151367],"pose":[-0.9996007322598659,-0.026097105820700184,0.009902728640693317,0,-0.026451596713201242,0.9989354814477764,-0.03753616705564827,0,-0.008912773277087171,-0.03778385051562534,-0.9992461874396741,0,0.6870178829870552,-0.04334681866765668,0.08439736048941013,1]}]],"teaching_reference":{"pose":[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]}}],"safety":{"force_thresholds":{"x":10,"x_rot":5,"y":10,"y_rot":5,"z":10,"z_rot":5},"torque_thresholds":{"j0":10,"j1":10,"j2":10,"j3":8,"j4":8,"j5":4,"j6":4}},"speed":0.5},"valid":true}