script_temp_frame_from_force

Creates a temporary frame from the current force measurements.

The z axis points in the opposite direction of the measured force vector (the usual definition for force control with pitasc). The frame’s position and direction will be updated as long as the script is active.

Includes possibility to filter the input with a first order low pass.

Defined at line 173 of file scripts/geometry.xml in package pitasc_library.

Meta data

Categories
frames
Prototypes
script_temp_frame, script_kinematic_graph, script, object, dictionary, base, descriptive

Parameters

Required parameters:

frame : string
Name of the frame to be created
source : string
Name of the frame to be copied

Basic parameters:

on_start : bool
Execute the script before or after the skill.
Default: True
tf_broadcast : bool
Broadcast the frame to TF?
Default: False
low_pass_filter_gain : float
First order low pass filter gain (exponential filter). Must be in interval [0:1]. 0 means taking only the previous value, 1 means taking only the new value.
Default: 1.0

Expert parameters:

parent : string
Name of the parent frame to of ‘frame’
wrench_driver : dict
Base type for all data sources.

Hidden parameters:

kinematic_graph : dict
Graph of kinematic links

Examples

script_temp_frame_from_force is used in the following examples: