intrinsic.force_primitive

Force primitive action for ICON using task-space admittance control.

This action does not have real-time signals.

Streaming Output

cartesian-admittance-status

Reports the current internal status of the controller.

State Variables

intrinsic.is_done (bool)

The action is done.

intrinsic.is_settled (bool)

This Action reports 'settled' as soon as the robot has reached a settled state. It settles if the force stays in a band and joint velocities are small and near the desired joint velocity.

intrinsic.reference_pose_reached (bool)

Returns true if the desired reference pose has been reached.

intrinsic.reference_position_error (double)

Returns the distance between the desired reference position and the sensed position of the robot tool in meters.

intrinsic.reference_orientation_error (double)

Returns the angular distance between the desired reference orientation and the sensed orientation of the robot tool in radians.

intrinsic.settled_for_seconds (double)

Returns for how many seconds the robot state has been settled and all velocities have been close to zero.

intrinsic.sensed_force (double)

Euclidean norm of the measured force at the end effector in [N].

sensed_torque (double)

Euclidean norm of the measured torque at the end effector in [Nm].

intrinsic.sensed_force_in_direction_1 (double)

Euclidean norm of the measured force in the direction_1 in [N]. Configure the direction in the StateVariableConfiguration. Default is the x-axis.

intrinsic.sensed_force_in_direction_2 (double)

Euclidean norm of the measured force in the direction_2 in [N]. Configure the direction in the StateVariableConfiguration. Default is the y-axis.

intrinsic.sensed_force_in_direction_3 (double)

Euclidean norm of the measured force in the direction_3 in [N]. Configure the direction in the StateVariableConfiguration. Default is the z-axis.

manipulability (double)

Manipulability of the current joint configuration of the end-effector.

elapsed_time_seconds (double)

Time elapsed running this action in [s].

intrinsic.translational_distance_traveled (double)

Euclidean norm of the translational distance traveled by the end-effector from the start of this action in [m].

maximum_translational_displacement_in_time_window (double)

Euclidean norm of the translational distance between the farthest two points of the end-effector within a given time window, in [m].