robots/franka/franka_rmpflow_common.yaml

# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto.  Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.

joint_limit_buffers: [.01, .03, .01, .01, .01, .01, .01]

rmp_params:
    cspace_target_rmp:
        metric_scalar: 50.
        position_gain: 100.
        damping_gain: 50.
        robust_position_term_thresh: .5
        inertia: 1.
    cspace_trajectory_rmp:
        p_gain: 100.
        d_gain: 10.
        ff_gain: .25
        weight: 50.
    cspace_affine_rmp:
        final_handover_time_std_dev: .25
        weight: 2000.
    joint_limit_rmp:
        metric_scalar: 1000.
        metric_length_scale: .01
        metric_exploder_eps: 1e-3
        metric_velocity_gate_length_scale: .01
        accel_damper_gain: 200.
        accel_potential_gain: 1.
        accel_potential_exploder_length_scale: .1
        accel_potential_exploder_eps: 1e-2
    joint_velocity_cap_rmp:
        max_velocity: 4.  # max_xd
        velocity_damping_region: 1.5
        damping_gain: 1000.0
        metric_weight: 100. # metric_scalar
    target_rmp:
        accel_p_gain: 30.
        accel_d_gain: 85.
        accel_norm_eps: .075
        metric_alpha_length_scale: .05
        min_metric_alpha: .01
        max_metric_scalar: 10000
        min_metric_scalar: 2500
        proximity_metric_boost_scalar: 20.
        proximity_metric_boost_length_scale: .02
        xi_estimator_gate_std_dev: 20000.
        accept_user_weights: false  # Values >= .5 are true and < .5 are false
    axis_target_rmp:
        accel_p_gain: 210.
        accel_d_gain: 60.
        metric_scalar: 10
        proximity_metric_boost_scalar: 3000.
        proximity_metric_boost_length_scale: .08
        xi_estimator_gate_std_dev: 20000.
        accept_user_weights: false
    collision_rmp:
        damping_gain: 50.
        damping_std_dev: .04
        damping_robustness_eps: 1e-2
        damping_velocity_gate_length_scale: .01
        repulsion_gain: 800.
        repulsion_std_dev: .01
        metric_modulation_radius: .5
        metric_scalar: 10000.  # Real value should be this.
        #metric_scalar: 0.  # Turns off collision avoidance.
        metric_exploder_std_dev: .02
        metric_exploder_eps: .001
    damping_rmp:
        accel_d_gain: 30.
        metric_scalar: 50.
        inertia: 100.

canonical_resolve:
    max_acceleration_norm: 50.
    projection_tolerance: .01
    verbose: false

body_cylinders:
    - name: base_stem
      pt1: [0,0,.333]
      pt2: [0,0,0.]
      radius: .05
    - name: base_tee
      pt1: [0,0,.333]
      pt2: [0,0,.333]
      radius: .15

# Each arm is approx. 1m from (arm) base to gripper center.
# .1661 between links (approx .15)
body_collision_controllers:
    - name: panda_link7
      radius: .05
    - name: panda_wrist_end_pt
      radius: .05
    - name: panda_hand
      radius: .05
    - name: panda_face_left
      radius: .05
    - name: panda_face_right
      radius: .05
    - name: panda_leftfingertip
      radius: .075
    - name: panda_rightfingertip
      radius: .075