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feat!: vector-valued nullspace params #82

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2 changes: 1 addition & 1 deletion config/control/clipped_cartesian_impedance.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion config/control/default_cartesian_impedance.yaml
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Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion config/control/default_operational_space_controller.yaml
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Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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12 changes: 3 additions & 9 deletions config/control/dynaarm_cic_soft.yaml
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Expand Up @@ -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

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6 changes: 3 additions & 3 deletions config/control/dynaarm_gravity.yaml
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion config/control/gravity_compensation.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion config/control/gravity_compensation_on_fix_position.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion config/control/gravity_compensation_on_plane.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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13 changes: 3 additions & 10 deletions config/control/joint_control.yaml
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Expand Up @@ -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

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13 changes: 3 additions & 10 deletions config/control/joint_velocity_control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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2 changes: 1 addition & 1 deletion config/control/no_friction_cartesian_impedance.yaml
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Expand Up @@ -33,7 +33,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion crisp_py/config/control/clipped_cartesian_impedance.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion crisp_py/config/control/default_admittance.yaml
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Expand Up @@ -4,7 +4,7 @@
limit_error: true
limit_torques: true
max_delta_tau: 2.0
nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]
stop_commands: false

task.k_pos_x: 900.0
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2 changes: 1 addition & 1 deletion crisp_py/config/control/default_cartesian_impedance.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion crisp_py/config/control/default_operational_space_controller.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion crisp_py/config/control/gravity_compensation.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion crisp_py/config/control/gravity_compensation_on_plane.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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13 changes: 3 additions & 10 deletions crisp_py/config/control/joint_control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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13 changes: 3 additions & 10 deletions crisp_py/config/control/joint_velocity_control.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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2 changes: 1 addition & 1 deletion crisp_py/config/control/no_friction_cartesian_impedance.yaml
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Expand Up @@ -33,7 +33,7 @@ limit_torques: true

max_delta_tau: 0.5

nullspace.stiffness: 5.0
nullspace.stiffness: [5.0]

stop_commands: false

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2 changes: 1 addition & 1 deletion docs/how_to_crisp.md
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Expand Up @@ -73,7 +73,7 @@ params = [
("task.k_rot_x", 20.0),
("task.k_rot_y", 20.0),
("task.k_rot_z", 20.0),
("nullspace.stiffness", 5.0),
("nullspace.stiffness", [5.0]),
]

robot.cartesian_controller_parameters_client.set_parameters(params)
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2 changes: 1 addition & 1 deletion examples/example_with_iiwa.py
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Expand Up @@ -24,7 +24,7 @@
("task.k_rot_x", 80.0),
("task.k_rot_y", 80.0),
("task.k_rot_z", 80.0),
("nullspace.stiffness", 5.0),
("nullspace.stiffness", [5.0]),
]

robot.cartesian_controller_parameters_client.set_parameters(params)
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