Motion Compliance : Impedance control

[JemuelStanley47]

• Run sdk example:
• Test example scripts with different stiffness and damping values
• move_impedance_control under manipulation_lib.Manipulation
• • Add feedback with feedback_request = manipulation_api_pb2.ManipulationApiFeedbackRequest( manipulation_cmd_id=cmd_response.manipulation_cmd_id)
• manipulation_api_pb2.MANIP_STATE_DONE
• Script (scrips/impedance_test.py) for testing compliance by having external forces act on the arm while trying to hold a position
• • Record gripper positions record_gripper_positions
• • Plot target pose, current pose: plot_positions
• • Test with different stiffness, dampness and poses (front facing, down facing, left facing, right facing)

[JemuelStanley47]

Compliance:

No compliance:

[JemuelStanley47]

Would probably be a good idea to switch between position control and compliant motion.

• Further generalize the move_gripper function to allow compliant motion (switching-mode and not hybrid)
• • Scale the compliance between 0-1 instead. Accept a tuple for x,y,z,roll,pitch,yaw.
• • Would probably be better to allow changing just one, instead of having to give a long tuple for 6 values of dampness and 6 of stiffness
• • Have default values for compliance if not specified.