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dzp
2024-11-06 09:43:33 +08:00
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; robot model meta-information
model_information {
manipulatorModelType 0 // 0: Default-arm, 1: Wheel-based manipulator, 2: Floating-arm manipulator, 3: Fully actuated floating-arm manipulator
; motion joints in the URDF to consider fixed
removeJoints {
[0] "gripper"
[1] "gripper_bar"
[2] "ee_bar"
[3] "left_finger"
[4] "right_finger"
[5] "ee_gripper"
[6] "root_joint"
}
; base frame of the robot (from URDF)
baseFrame "root"
; end-effector frame of the robot (from URDF)
eeFrame "wx250/gripper_prop_link"
}
model_settings
{
usePreComputation true
recompileLibraries true
}
; DDP settings
ddp
{
algorithm SLQ
nThreads 3
threadPriority 50
maxNumIterations 1
minRelCost 0.1
constraintTolerance 1e-3
displayInfo false
displayShortSummary false
checkNumericalStability false
debugPrintRollout false
debugCaching false
AbsTolODE 1e-5
RelTolODE 1e-3
maxNumStepsPerSecond 100000
timeStep 1e-3
backwardPassIntegratorType ODE45
constraintPenaltyInitialValue 20.0
constraintPenaltyIncreaseRate 2.0
preComputeRiccatiTerms true
useFeedbackPolicy false
strategy LINE_SEARCH
lineSearch
{
minStepLength 1e-2
maxStepLength 1.0
hessianCorrectionStrategy DIAGONAL_SHIFT
hessianCorrectionMultiple 1e-3
}
}
; Rollout settings
rollout
{
AbsTolODE 1e-5
RelTolODE 1e-3
timeStep 1e-2
integratorType ODE45
maxNumStepsPerSecond 100000
checkNumericalStability false
}
; MPC settings
mpc
{
timeHorizon 1.0 ; [s]
solutionTimeWindow 0.2 ; [s]
coldStart false
debugPrint false
mpcDesiredFrequency 100 ; [Hz]
mrtDesiredFrequency 400 ; [Hz]
}
; initial state
initialState
{
; initial state for the different types of arm base DOFs
base
{
defaultManipulator
{
}
floatingArmManipulator
{
(0,0) 0.0 ; position x
(1,0) 0.0 ; position y
(2,0) 0.0 ; position z
(3,0) 0.0 ; euler angle z
(4,0) 0.0 ; euler angle y
(5,0) 0.0 ; euler angle x
}
fullyActuatedFloatingArmManipulator
{
(0,0) 0.0 ; position x
(1,0) 0.0 ; position y
(2,0) 0.0 ; position z
(3,0) 0.0 ; euler angle z
(4,0) 0.0 ; euler angle y
(5,0) 0.0 ; euler angle x
}
wheelBasedMobileManipulator
{
(0,0) 0.0 ; position x
(1,0) 0.0 ; position y
(2,0) 0.0 ; heading
}
}
; initial state for the arm DOFs
arm
{
(0,0) -0.56 ; arm_1
(1,0) 1.65 ; arm_2
(2,0) -1.71 ; arm_3
(3,0) -1.07 ; arm_4
(4,0) 0.09 ; arm_5
(5,0) 0.19 ; arm_6
}
}
inputCost
{
; control weight matrixarmarm
R
{
; input costs for the different types of arm base DOFs
base
{
defaultManipulator
{
}
floatingArmManipulator
{
}
fullyActuatedFloatingArmManipulator
{
scaling 1e-2
(0,0) 5.0 ; position x
(1,1) 5.0 ; position y
(2,2) 5.0 ; position z
(3,3) 5.0 ; euler angle z
(4,4) 5.0 ; euler angle y
(5,5) 5.0 ; euler angle x
}
wheelBasedMobileManipulator
{
scaling 1e-2
(0,0) 5.0 ; forward velocity
(1,1) 5.0 ; turning velocity
}
}
; input costs for the arm DOFs
arm
{
scaling 1e-2
(0,0) 1.0 ; arm_1 velocity
(1,1) 1.0 ; arm_2 velocity
(2,2) 1.0 ; arm_3 velocity
(3,3) 1.0 ; arm_4 velocity
(4,4) 1.0 ; arm_5 velocity
(5,5) 1.0 ; arm_6 velocity
}
}
}
endEffector
{
; end effector quadratic penalty scaling
muPosition 10.0
muOrientation 5.0
}
finalEndEffector
{
muPosition 10.0
muOrientation 5.0
}
selfCollision
{
; activate self-collision constraint
activate false
; TODO: Replace the collision meshes of the arm with primitive shapes.
}
; Only applied for arm joints: limits parsed from URDF
jointPositionLimits
{
; activate constraint
activate true
; relaxed log barrier mu
mu 0.01
; relaxed log barrier delta
delta 1e-3
}
jointVelocityLimits
{
; relaxed log barrier mu
mu 0.01
; relaxed log barrier delta
delta 1e-3
lowerBound
{
; velocity limits for the different types of arm base DOFs
base
{
defaultManipulator
{
}
floatingArmManipulator
{
}
fullyActuatedFloatingArmManipulator
{
(0,0) -0.1 ; linear velocity x
(1,0) -0.1 ; linear velocity y
(2,0) -0.1 ; linear velocity z
(3,0) -0.3 ; euler angle velocity z
(4,0) -0.3 ; euler angle velocity y
(5,0) -0.3 ; euler angle velocity x
}
wheelBasedMobileManipulator
{
(0,0) -0.1 ; forward velocity
(1,0) -0.3 ; turning velocity
}
}
; velocity limits for the arm DOFs
arm
{
(0,0) -15.0 ; arm_1 [rad/s]
(1,0) -15.0 ; arm_2 [rad/s]
(2,0) -15.0 ; arm_3 [rad/s]
(3,0) -15.0 ; arm_4 [rad/s]
(4,0) -15.0 ; arm_5 [rad/s]
(5,0) -15.0 ; arm_6 [rad/s]
}
}
upperBound
{
; velocity limits for the different types of arm base DOFs
base
{
defaultManipulator
{
}
floatingArmManipulator
{
}
fullyActuatedFloatingArmManipulator
{
(0,0) 0.1 ; linear velocity x
(1,0) 0.1 ; linear velocity y
(2,0) 0.1 ; linear velocity z
(3,0) 0.3 ; euler angle velocity z
(4,0) 0.3 ; euler angle velocity y
(5,0) 0.3 ; euler angle velocity x
}
wheelBasedMobileManipulator
{
(0,0) 0.1 ; forward velocity
(1,0) 0.3 ; turning velocity
}
}
; velocity limits for the arm DOFs
arm
{
(0,0) 15.0 ; arm_1 [rad/s]
(1,0) 15.0 ; arm_2 [rad/s]
(2,0) 15.0 ; arm_3 [rad/s]
(3,0) 15.0 ; arm_4 [rad/s]
(4,0) 15.0 ; arm_5 [rad/s]
(5,0) 15.0 ; arm_6 [rad/s]
}
}
}