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test_constraint_z.yaml
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test_constraint_z.yaml
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---
####################
# Control Objectives
####################
RootControlObjectives:
- Robot: RobotKukaLeft
JointDof: 7
ControlObjectives:
- Name: RobotKukaLeft_motion_tracking
Robot: RobotKukaLeft
OperationalFrame: {Type: Link, Name: lwr_tool_link, Dof: 6}
- Name: RobotKukaLeft_nullspace_tracking
Robot: RobotKukaLeft
OperationalFrame: {Type: Chain, Name: full_arm, Dof: 7}
- Name: RobotKukaLeft_force_constraint
Robot: RobotKukaLeft
OperationalFrame: {Type: Link, Name: lwr_tool_link, Dof: 6}
ContactSituations:
- Name: Folding_SR_0
Filters:
- RobotKukaLeft_motion_tracking: Filter_Identity
- RobotKukaLeft_nullspace_tracking: Filter_Identity
- RobotKukaLeft_force_constraint: Filter_Identity
PrioritizationMatrix: [
[RobotKukaLeft_motion_tracking, RobotKukaLeft_nullspace_tracking, RobotKukaLeft_force_constraint], [1, 1, 0], [0, 0, 0], [1, 1, 1]
]
- Name: Folding_SR_1
Filters:
- RobotKukaLeft_motion_tracking: Filter_Identity
- RobotKukaLeft_nullspace_tracking: Filter_Identity
- RobotKukaLeft_force_constraint: Filter_Identity
PrioritizationMatrix: [
[RobotKukaLeft_motion_tracking, RobotKukaLeft_nullspace_tracking, RobotKukaLeft_force_constraint], [0, 0, 0], [1, 0, 0], [1, 1, 1]
]
- Name: Folding_SR_2
Filters:
- RobotKukaLeft_motion_tracking: "Filter:Folding_SR_1:RobotKukaLeft:lwr_tool_link:M:3935613358947595722"
- RobotKukaLeft_nullspace_tracking: Filter_Identity
- RobotKukaLeft_force_constraint: "Filter:Folding_SR_1:RobotKukaLeft:lwr_tool_link:C:3935613358947595722"
PrioritizationMatrix: [
[RobotKukaLeft_motion_tracking, RobotKukaLeft_nullspace_tracking, RobotKukaLeft_force_constraint], [0, 0, 1], [1, 0, 1], [0, 0, 0]
]
#########
# Filters
#########
Filters:
- Filter: "Filter:Folding_SR_1:RobotKukaLeft:lwr_tool_link:M:3935613358947595722"
Type: ComponentWise
Data: [[1.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 1.0]]
- Filter: "Filter:Folding_SR_1:RobotKukaLeft:lwr_tool_link:C:3935613358947595722"
Type: ComponentWise
Data: [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]
###########
# Port Maps
###########
PortMaps:
Prioritization:
- Name: motion_tracking_1
ControlObjectives: [RobotKukaLeft_motion_tracking]
- Name: nullspace_tracking_1
ControlObjectives: [RobotKukaLeft_nullspace_tracking]
- Name: force_constraint_1
ControlObjectives: [RobotKukaLeft_force_constraint]