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* fix adm rule
* revert impedance rule to normal inverse() (instead of LLT-based inverses)
* increase alpha pinv
* check for singularities in impedance control
* prepare admittance for singularity checks
* add commented alternative method for acc estimation
* fix missing var in impedance rule
* change start position
* use "end_effector_frame" instead of control frame
(cherry picked from commit 5921f9a)
Co-authored-by: Thibault Poignonec <79221188+tpoignonec@users.noreply.github.com>
Copy file name to clipboardExpand all lines: cartesian_vic_controller/src/cartesian_vic_controller_parameters.yaml
+3-3Lines changed: 3 additions & 3 deletions
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@@ -111,11 +111,11 @@ cartesian_vic_controller:
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description: "Specifies the name of the external torque sensor in the robot description which will be used in the vic calculation."
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}
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control:
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end_effector_frame:
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frame:
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id: {
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type: string,
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description: "Specifies the robot control frame in which the reference pose and velocities are expressed."
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description: "Specifies the controlled robot end effector frame. Note that the pose and velocity are expressed w.r.t. the base frame (see dynamics plugin parameters)."
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}
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fixed_world_frame: # Gravity points down (neg. Z) in this frame (Usually: world or base_link)
@@ -149,7 +149,7 @@ cartesian_vic_controller:
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frame:
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id: {
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type: string,
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description: "Specifies the control frame used for vic calculation."
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description: "Specifies the frame in which the impedance matrices are expressed."
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