CLIK Yaml file

Basic CLIK Planner Configuration

A basic configuration file is as follows:

• clik_config_example.yaml

  constrained_ik_solver:
    manipulator:
      allow_joint_convergence: false
      allow_primary_normalization: true
      allow_auxiliary_nomalization: true
      limit_primary_motion: true
      limit_auxiliary_motion: true
      limit_auxiliary_interations: false
      solver_max_iterations: 100
      solver_min_iterations: 0
      auxiliary_max_iterations: 5
      auxiliary_max_motion: 0.5
      primary_max_motion: 2.0
      primary_norm: 1.0
      auxiliary_norm: 0.15
      primary_gain: 1.0
      auxiliary_gain: 1.0
      joint_convergence_tol: 0.0001
      constraints:
      -
        class: constrained_ik/GoalPosition
        primary: true
        weights: [1.0, 1.0, 1.0]
        position_tolerance: 0.001
        debug: true
      -
        class: constrained_ik/AvoidObstacles
        primary: false
        debug: false
        link_names:         [ shoulder_link, upper_arm_link, forearm_link, wrist_1_link, wrist_2_link, wrist_3_link]
        amplitude:          [      0.000001,       0.000001,     0.000001,     0.000001,     0.000001,     0.000001]
        minimum_distance:   [         0.001,           0.01,         0.01,         0.01,         0.01,        0.001]
        avoidance_distance: [           0.1,            0.1,          0.1,          0.1,          0.1,         0.01]
        weights:            [             1,              1,            1,            1,            1,            1]
  
  constrained_ik_planner:
    translational_discretization_step: 0.02
    orientational_discretization_step: 0.02
    joint_discretization_step: 0.02
  

  Each "constrained_ik_solver/group_name" section is specific to that planning group. The group name must be a valid planning group in the SRDF file

Explanation of parameters

Constrained IK Solver Parameters

All the parameters affect the behavior of the Constrained IK solver process. These parameters are as follows:

• allow_joint_convergence: Allow the solver to converge based on joint convergence.
• allow_primary_normalization: Allow the solver to normalize primary motion.
• allow_auxiliary_nomalization: Allow the solver to normalize auxiliary motion.
• limit_primary_motion: Allow the solver to limit the primary motion.
• limit_auxiliary_motion: Allow the solver to limit the auxiliary motion.
• limit_auxiliary_interations: Allow the solver to limit the number of auxiliary interation.
• solver_max_iterations: Solver's maximum number of iterations allowed.
• solver_min_iterations: Solver's minimum number of iterations required.
• auxiliary_max_iterations: Auxiliary's maximum number of iteration allowed.
• auxiliary_max_motion: Auxiliary's maximum motion allowed.
• primary_max_motion: Primary's maximum motion allowed.
• primary_norm: Normalize primary motion to set value.
• auxiliary_norm: Normalize auxiliary motion to set value.
• primary_gain: Solver's primary motion update gain.
• auxiliary_gain: Solver's auxiliary motion update gain.
• joint_convergence_tol: Solver's joint convergence tolerance.
• constraints: Contains a list of ik solver constraints.

Planner Parameters

These parameters are as follows:

• translational_discretization_step: Cartesian planner max translational discretization step parameter.
• orientational_discretization_step: Cartesian planner max orientational discretization step parameter.
• joint_discretization_step: Joint interpolation planner joint discretization step parameter.