feat!: vector-valued nullspace params

Author: danielsanjosepro

config/control/clipped_cartesian_impedance.yaml

@@ -3,7 +3,7 @@ limit_torques: true
 
 max_delta_tau: 0.5
 
-nullspace.stiffness: 5.0
+nullspace.stiffness: [5.0]
 
 stop_commands: false
 

config/control/default_cartesian_impedance.yaml

@@ -3,7 +3,7 @@ limit_torques: true
 
 max_delta_tau: 0.5
 
-nullspace.stiffness: 5.0
+nullspace.stiffness: [5.0]
 
 stop_commands: false
 

config/control/default_operational_space_controller.yaml

@@ -3,7 +3,7 @@ limit_torques: true
 
 max_delta_tau: 0.5
 
-nullspace.stiffness: 5.0
+nullspace.stiffness: [5.0]
 
 stop_commands: false
 

config/control/dynaarm_cic_soft.yaml

@@ -22,17 +22,11 @@ log.timing: false
 max_delta_tau: 0.5
 noise.add_random_noise: false
 noise.amplitude: 0.0
-nullspace.damping: 1.0
-nullspace.max_tau: 5.0
+nullspace.damping: [0.0]
+nullspace.max_tau: [5.0]
 nullspace.projector_type: none
 nullspace.regularization: 1.0e-06
-nullspace.stiffness: 0.0
-nullspace.weights.elbow_flexion.value: 0.0
-nullspace.weights.forearm_rotation.value: 0.0
-nullspace.weights.shoulder_flexion.value: 0.0
-nullspace.weights.shoulder_rotation.value: 0.0
-nullspace.weights.wrist_flexion.value: 0.0
-nullspace.weights.wrist_rotation.value: 0.0
+nullspace.stiffness: [0.0]
 operational_space_regularization: 1.0
 stop_commands: false
 

config/control/dynaarm_gravity.yaml

@@ -9,11 +9,11 @@ log.enabled: false
 
 max_delta_tau: 0.5
 
-nullspace.damping: -1.0
-nullspace.max_tau: 5.0
+nullspace.damping: [-1.0]
+nullspace.max_tau: [5.0]
 nullspace.projector_type: none
 nullspace.regularization: 1.0e-06
-nullspace.stiffness: 0.0
+nullspace.stiffness: [0.0]
 
 operational_space_regularization: 1.0
 stop_commands: false

config/control/gravity_compensation.yaml

@@ -3,7 +3,7 @@ limit_torques: true
 
 max_delta_tau: 0.5
 
-nullspace.stiffness: 5.0
+nullspace.stiffness: [5.0]
 
 stop_commands: false
 

config/control/gravity_compensation_on_fix_position.yaml

@@ -3,7 +3,7 @@ limit_torques: true
 
 max_delta_tau: 0.5
 
-nullspace.stiffness: 5.0
+nullspace.stiffness: [5.0]
 
 stop_commands: false
 

config/control/gravity_compensation_on_plane.yaml

@@ -3,7 +3,7 @@ limit_torques: true
 
 max_delta_tau: 0.5
 
-nullspace.stiffness: 5.0
+nullspace.stiffness: [5.0]
 
 stop_commands: false
 

config/control/joint_control.yaml

@@ -5,17 +5,10 @@ max_delta_tau: 0.5
 
 nullspace.projector_type: none  # So we are directly controlling the joints!
 
-nullspace.stiffness: 5.0
-nullspace.damping: 1.0
-nullspace.max_tau: 5.0
+nullspace.stiffness: [75.0, 75.0, 40.0, 40.0, 40.0, 25.0, 25.0]
+nullspace.damping: [15.0, 15.0, 8.0, 8.0, 8.0, 5.0, 5.0]
+nullspace.max_tau: [5.0]
 nullspace.regularization: 1.0e-06
-nullspace.weights.right_fr3_joint1.value: 15.0
-nullspace.weights.right_fr3_joint2.value: 15.0
-nullspace.weights.right_fr3_joint3.value: 8.0
-nullspace.weights.right_fr3_joint4.value: 8.0
-nullspace.weights.right_fr3_joint5.value: 8.0
-nullspace.weights.right_fr3_joint6.value: 5.0
-nullspace.weights.right_fr3_joint7.value: 5.0
 
 stop_commands: false
 

config/control/joint_velocity_control.yaml

@@ -4,17 +4,10 @@ limit_torques: true
 max_delta_tau: 0.5
 
 nullspace.projector_type: none  # So we are directly controlling the joints!
-nullspace.stiffness: 0.0
-nullspace.damping: 10.0
-nullspace.max_tau: 5.0
+nullspace.stiffness: [0.0]
+nullspace.damping: [150.0, 150.0, 80.0, 80.0, 80.0, 50.0, 50.0]
+nullspace.max_tau: [5.0]
 nullspace.regularization: 1.0e-06
-nullspace.weights.right_fr3_joint1.value: 15.0
-nullspace.weights.right_fr3_joint2.value: 15.0
-nullspace.weights.right_fr3_joint3.value: 8.0
-nullspace.weights.right_fr3_joint4.value: 8.0
-nullspace.weights.right_fr3_joint5.value: 8.0
-nullspace.weights.right_fr3_joint6.value: 5.0
-nullspace.weights.right_fr3_joint7.value: 5.0
 
 stop_commands: false