cartesian_controller.yaml

cartesian_controller:
  joints:
    type: string_array
    description: "Names of the joints"

  end_effector_frame:
    type: string
    description: "Name of the end-effector frame"

  base_frame:
    type: string
    default_value: ""
    description: "Name of the end-effector frame"

  use_operational_space:
    type: bool
    default_value: False
    description: "Whether we use operational space control or cartesian impedance control"

  operational_space_regularization:
    type: double
    default_value: 0.01
    description: "Regularization (damping) for Mx pseudo-inverse. Higher values improve stability near singularities but reduce accuracy. Valid range is 0.001-1.0; typical useful values are in the 0.01-0.5 range."
    validation:
      bounds<>: [0.001, 1.0]

  task:
    k_pos_x:
      type: double
      default_value: 500.0
      description: "Stiffness in the x direction for the translation"
      validation:
        bounds<>: [0.0, 5000.0]
    d_pos_x:
      type: double
      default_value: -1.0
      description: "Damping in the x direction for the translation. If negative, computed as 2*sqrt(stiffness)"
      validation:
        bounds<>: [-1.0, 5000.0]
    k_pos_y:
      type: double
      default_value: 500.0
      description: "Stiffness in the y direction for the translation"
      validation:
        bounds<>: [0.0, 5000.0]
    d_pos_y:
      type: double
      default_value: -1.0
      description: "Damping in the y direction for the translation. If negative, computed as 2*sqrt(stiffness)"
      validation:
        bounds<>: [-1.0, 5000.0]
    k_pos_z:
      type: double
      default_value: 500.0
      description: "Stiffness in the z direction for the translation"
      validation:
        bounds<>: [0.0, 5000.0]
    d_pos_z:
      type: double
      default_value: -1.0
      description: "Damping in the z direction for the translation. If negative, computed as 2*sqrt(stiffness)"
      validation:
        bounds<>: [-1.0, 5000.0]
    k_rot_x:
      type: double
      default_value: 30.0
      description: "Stiffness in the x direction for the orientation"
      validation:
        bounds<>: [0.0, 5000.0]
    d_rot_x:
      type: double
      default_value: -1.0
      description: "Damping in the x direction for the orientation. If negative, computed as 2*sqrt(stiffness)"
      validation:
        bounds<>: [-1.0, 5000.0]
    k_rot_y:
      type: double
      default_value: 30.0
      description: "Stiffness in the y direction for the orientation"
      validation:
        bounds<>: [0.0, 5000.0]
    d_rot_y:
      type: double
      default_value: -1.0
      description: "Damping in the y direction for the orientation. If negative, computed as 2*sqrt(stiffness)"
      validation:
        bounds<>: [-1.0, 5000.0]
    k_rot_z:
      type: double
      default_value: 30.0
      description: "Stiffness in the z direction for the orientation"
      validation:
        bounds<>: [0.0, 5000.0]
    d_rot_z:
      type: double
      default_value: -1.0
      description: "Damping in the z direction for the orientation. If negative, computed as 2*sqrt(stiffness)"
      validation:
        bounds<>: [-1.0, 5000.0]
    error_clip:
      x:
        type: double
        description: "Max allowed error in x direction."
        default_value: 0.1
      y:
        type: double
        description: "Max allowed error in y direction."
        default_value: 0.1
      z:
        type: double
        description: "Max allowed error in z direction."
        default_value: 0.1
      rx:
        type: double
        description: "Max allowed error in the rotational x direction (local or global frame)."
        default_value: 0.5
      ry:
        type: double
        description: "Max allowed error in the rotational y direction (local or global frame)."
        default_value: 0.5
      rz:
        type: double
        description: "Max allowed error in the rotational z direction (local or global frame)."
        default_value: 0.5

  nullspace:
    stiffness:
      type: double
      default_value: 1.0
      description: "Stiffness of the nullspace controller."
      validation:
        bounds<>: [0.0, 500.0]
    damping:
      type: double
      default_value: -1.0
      description: "Damping of the nullspace controller. If negative, then 2 sqrt(stiffness) is used."
      validation:
        bounds<>: [-1.0, 500.0]
    weights:
      __map_joints:
        value:
          type: double
          default_value: 1.0
          description: "Weights for each joint for the nullspace parameters."
          validation:
            bounds<>: [0.0, 500.0]
    regularization:
      type: double
      default_value: 0.000001
      description: "Regularization value for the pseudo-inverse."
      validation:
        bounds<>: [0.000001, 0.0001]
    projector_type:
      type: string
      default_value: "kinematic"
      description: "Which type of nullspace projector should be used: kinematic, dynamic or none."
      validation:
        one_of<>: [["kinematic", "dynamic", "none"]]
    max_tau:
      type: double
      default_value: 5
      description: "Maximal torque value that can be applied in the nullspace. This is used to be sure that we do not interfere with the main task."

  noise:
    add_random_noise:
      type: bool
      default_value: false
      description: "Whether or not we add random noise to the torques. This is just to test for stability."
    amplitude:
      type: double
      default_value: 0.0
      description: "Magnitude of the added noise, if added."
      validation:
        bounds<>: [0.0, 10.0]


  use_friction:
    type: bool
    default_value: false
    description: "Use friction compensation"

  use_coriolis_compensation:
    type: bool
    default_value: false
    description: "Use coriolis compensation"

  use_gravity_compensation:
    type: bool
    default_value: false
    description: "Add use_gravity_compensation. Double check that your robot is not already doing this behind the scenes (which is the case for Franka Robotics). In this case you should leave this parameter to false!"

  use_local_jacobian:
    type: bool
    default_value: false
    description: "If true, we use the local jacobian for computations, otherwise we use the world jacobian."

  log:
    enabled:
      type: bool
      default_value: false
      description: "If set so to true, log some debugging statements."
    robot_state:
      type: bool
      default_value: false
      description: "If set so to true, log the robot state like the joint state and end effector position."
    control_values:
      type: bool
      default_value: false
      description: "If set so to true, log the control values like error to target."
    limits:
      type: bool
      default_value: false
      description: "If set so to true, log the limits of each joint."
    controller_parameters:
      type: bool
      default_value: false
      description: "If set so to true, log the controller parameters like the stiffness, damping..."
    computed_torques:
      type: bool
      default_value: false
      description: "If set so to true, log the individual computed torques."
    dynamic_params:
      type: bool
      default_value: false
      description: "If set so to true, log the dynamic_params like the mass matrix, operational mass matrix..."
    timing:
      type: bool
      default_value: false
      description: "If true, the time required by the loop will be displayed."

  filter:
    target_pose:
      type: double
      default_value: 0.1
      description: "Amount of smoothing for the target pose when using the EMA. The EMA is applied at each step"
      validation:
        bounds<>: [0.1, 1.0]
    q:
      type: double
      default_value: 0.5
      description: "Amount of smoothing for the target pose when using the EMA."
      validation:
        bounds<>: [0.0, 1.0]
    dq:
      type: double
      default_value: 0.5
      description: "Amount of smoothing for the target pose when using the EMA."
      validation:
        bounds<>: [0.0, 1.0]
    q_ref:
      type: double
      default_value: 0.5
      description: "Amount of smoothing for the target pose when using the EMA."
      validation:
        bounds<>: [0.0, 1.0]

    output_torque:
      type: double
      default_value: 0.5
      description: "Amount of smoothing for the output torque when using the EMA."
      validation:
        bounds<>: [0.0, 1.0]

  limit_error:
    type: bool
    default_value: true
    description: "Limit\\clamp the error computed as the difference between the current pose and target pose."

  limit_torques:
    type: bool
    default_value: true
    description: "Limit torques"

  joint_limit_repulsion:
    enabled:
      type: bool
      default_value: true
      description: "Enable joint limit repulsion torques that push joints away from their limits"
    safe_range:
      type: double
      default_value: 0.1
      description: "Distance from joint limit where repulsion starts [rad]"
      validation:
        bounds<>: [0.01, 1.0]
    max_torque:
      type: double
      default_value: 5.0
      description: "Maximum repulsion torque at joint limit [Nm]"
      validation:
        bounds<>: [0.0, 50.0]

  max_delta_tau:
    type: double
    default_value: 0.5
    description: "Max allowed change in torque per joint per control loop."

  stop_commands:
    type: bool
    default_value: False
    description: "If set to true, we will stop sending commands to the robot. This is mainly for debugging useful."

  friction:
    fp1:
      type: double_array
      default_value: [0.54615, 0.87224, 0.64068, 1.2794, 0.83904, 0.30301, 0.56489]
      description: "Friction parameters part 1"
    fp2:
      type: double_array
      default_value: [ 5.1181, 9.0657, 10.136, 5.5903, 8.3469, 17.133, 10.336]
      description: "Friction parameters part 2"
    fp3:
      type: double_array
      default_value: [ 0.039533, 0.025882, -0.04607, 0.036194, 0.026226, -0.021047, 0.0035526]
      description: "Friction parameters part 3"

  enable_introspection:
    type: bool
    default_value: false
    description: "Whether or not to enable introspection for this controller. This will allow us to visualize the internal state of the controller in plotjuggler using the introspection topics."