aic_controller_parameters.yaml

aic_controller:
  joints: {
    type: string_array,
    description: "Specifies which joints will be used by the controller. ",
    read_only: true
  }

  kinematics:
    plugin_name: {
      type: string,
      description: "Specifies the name of the kinematics plugin to load."
    }
    plugin_package: {
      type: string,
      description: "Specifies the package name that contains the kinematics plugin."
    }
    base: {
      type: string,
      description: "Specifies the base link of the robot description used by the kinematics plugin."
    }
    tip: {
      type: string,
      description: "Frame ID of tool center point"
    }
    alpha: {
      type: double,
      default_value: 0.01,
      description: "Specifies the damping coefficient for the Jacobian pseudo inverse."
    }

  force_torque_sensor:
    name: {
      type: string,
      description: "Name of the force torque sensor as defined in the robot description."
    }

  control_mode: {
    type: string,
    default_value: "impedance",
    description: "Sets the controller used, which can be either 'impedance' or 'admittance'"
  }

  target_mode: {
    type: string,
    default_value: "joint",
    description: "Sets the target mode, which controls the type of target accepted. Values are 'cartesian' or 'joint'"
  }

  admittance_controller_namespace: {
    type: string,
    default_value: "admittance_controller",
    description: "Sets the namespace of the admittance controller to chain to"
  }

  control_frequency: {
    type: double,
    default_value: 0.0,
    description: "Frequency of control loop in Hz"
  }

  clamp_to_limits:
    min_translational_position: {
      type: double_array,
      description: "Minimum translational position in meters",
      validation: {
        fixed_size<>: 3
      }
    }
    max_translational_position: {
      type: double_array,
      description: "Maximum translational position in meters",
      validation: {
        fixed_size<>: 3
      }
    }
    min_translational_velocity: {
      type: double_array,
      description: "Minimum translational velocity in m/s",
      validation: {
        fixed_size<>: 3
      }
    }
    max_translational_velocity: {
      type: double_array,
      description: "Maximum translational velocity in m/s",
      validation: {
        fixed_size<>: 3
      }
    }
    min_rotation_angle: {
      type: double_array,
      description: "Minimum rotation angle in radians",
      validation: {
        fixed_size<>: 3,
        element_bounds<>: [ -3.1415926535, 3.1415926535 ]
      }
    }
    max_rotation_angle: {
      type: double_array,
      description: "Maximum rotation angle in radians",
      validation: {
        fixed_size<>: 3,
        element_bounds<>: [ -3.1415926535, 3.1415926535 ]
      }
    }
    max_rotational_velocity: {
      type: double,
      default_value: 0.0,
      description: "Maximum rotational velocity in rad/s"
    }
    tracking_error:
      timeout: {
        type: double,
        default_value: 0.0,
        description: "If there is no change in the error after the timeout duration, the tracking error will be clamped to their max values."
      }
      min_angular_change: {
        type: double,
        default_value: 0.0,
        description: "Mininimum change in angular error such that the robot is moving towards the target. Units in radians"
      }
      min_translation_change: {
        type: double,
        default_value: 0.0,
        description: "Minimum change in translation error such that the robot is moving towards the target. Units in meters"
      }
      min_translation_error: {
        type: double,
        default_value: 0.2,
        description: "Minimum translation error to trigger clamping. Make sure it is larger than min_translation_change to avoid instability. Units in meters"
      }

  # Cartesian impedance controller parameters
  impedance:
    gravity_compensation: {
      type: bool,
      default_value: false,
      description: "If enabled, compensate for gravitational force on robot arm in joint torque output."
    }
    stiffness_smoothing_constant: {
      type: double,
      default_value: 0.0,
      description: "Constant for exponential smoothing of stiffness matrix. Value ranges from 0 to 1, where 1 means no smoothing and 0 means no change in value."
    }
    damping_smoothing_constant: {
      type: double,
      default_value: 0.0,
      description: "Constant for exponential smoothing of damping matrix. Value ranges from 0 to 1, where 1 means no smoothing and 0 means no change in value."
    }
    activation_percentage: {
      type: double,
      default_value: 0.0,
      description: "Specifies the percentage of the range, from the minimum to the maximum joint position, where the joint limit activation potential is active. Value ranges from 0 to 1"
    }
    pose_error_integrator:
      gain: {
        type: double_array,
        description: "Gains used in pose integration.",
        validation: {
          fixed_size<>: 6
        }
      }
      bound: {
        type: double_array,
        description: "Bounds for integrator. Uses units of N for translational axes and units of Nm for rotational axes.",
        validation: {
          fixed_size<>: 6
        }
      }
    maximum_wrench: {
      type: double_array,
      description: "Limit for the wrench magnitude resulting from the feedback control law after adding the feedforward wrench terms.",
      validation: {
        fixed_size<>: 6
      }
    }
    nullspace:
      target_configuration: {
        type: double_array,
        description: "Target configuration for the nullspace of the arm",
      }
      stiffness: {
        type: double_array,
        description: "Stiffness parameters used in computing the nullspace torque",
      }
      damping: {
        type: double_array,
        description: "Damping parameters used in computing the nullspace torque",
      }
    feedforward_interpolation:
      min_wrench: {
        type: double_array,
        description: "Minimum limit of feedforward target wrench",
        validation: {
          fixed_size<>: 6
        }
      }
      max_wrench: {
        type: double_array,
        description: "Maximum limit of feedforward target wrench",
        validation: {
          fixed_size<>: 6
        }
      }
      max_wrench_dot: {
        type: double_array,
        description: "Maximum change in feedforward target wrench after interpolation",
        validation: {
          fixed_size<>: 6
        }
      }
    default_values:
      control_stiffness: {
        type: double_array,
        description: "Default starting values for diagonals of control stiffness matrix",
        validation: {
          fixed_size<>: 6
        }
      }
      control_damping: {
        type: double_array,
        description: "Default starting values for diagonals of control damping matrix",
        validation: {
          fixed_size<>: 6
        }
      }
      offset_wrench: {
        type: double_array,
        description: "Default offset values for wrench to compensate for payload weight outside of the kinematic chain. The wrench is with respect to base frame.",
        validation: {
          fixed_size<>: 6
        }
      }

  # Joint impedance controller parameters
  joint_impedance:
    interpolator:
      min_value: {
        type: double_array,
        description: "Minimum allowed value for feedforward torque",
        validation: {
          fixed_size<>: 6
        }
      }
      max_value: {
        type: double_array,
        description: "Maximum allowed value for feedforward torque",
        validation: {
          fixed_size<>: 6
        }
      }
      max_step_size: {
        type: double_array,
        description: "Maximum step size used to interpolate the feedforward torque",
        validation: {
          fixed_size<>: 6
        }
      }
    default_values:
      control_stiffness: {
        type: double_array,
        description: "Default starting values for control stiffness vector",
      }
      control_damping: {
        type: double_array,
        description: "Default starting values for control damping vector",
      }

  # general settings
  enable_parameter_update_without_reactivation: {
    type: bool,
    default_value: true,
    description: "If enabled, the parameters will be dynamically updated while the controller is running."
  }