Merge pull request #15 from micropsi-industries/smooth_guiding_filter

Expose guiding filter parameter to sdk

micropsi_integration_sdk/robot_sdk.py

@@ -350,7 +350,6 @@ def get_slowdown_steps_in_seconds(self) -> float:
         """
         return (11 / 15.15)
 
-
     def get_virtual_dynamics_parameters(self) -> dict:
         """
         Optional, override as appropriate.
@@ -370,6 +369,23 @@ def get_virtual_dynamics_parameters(self) -> dict:
             "moment": 0.04,
         }
 
+    def get_guiding_filter_strength(self) -> float:
+        """
+        Optional, override as appropriate.
+
+        Guiding filter strength is used to enable and smooth guiding motion inputs, i.e., FT
+        sensor readings. It takes values between 0 and 1. The higher the value is the more smoothing
+        applied on the readings to avoid a sudden increase on the forces applied. This, in the end,
+        avoids sudden jumps on the robot caused by sudden changes in commanded velocities, which are
+        calculated from the FT sensor readings.
+
+        Additionally, the filter also subtracts the guiding threshold value (the value to beat to
+        start guiding) from the readings. With that, we can now guide the robot with low velocities.
+
+        By default, this is disabled.
+        """
+        return 0.0
+
 
 class CartesianPoseRobot(RobotInterface):
     """

micropsi_integration_sdk/version.py

@@ -1 +1 @@
-VERSION = "0.20.0"
+VERSION = "0.21.0"