TJ & Hugh--Re WP 6286
Successfully modified the Guardian Parameters to just restore the non-pringle-mode target positions:
from isiguardianlib.isolation.const import ISOLATION_CONSTANTS
ISOLATION_CONSTANTS['CART_BIAS_DOF_LISTS'] = (['Z','RX','RY'],['X','Y','RZ'])
from isiguardianlib.HPI import *
prefix = 'HPI-HAM6'
ca_monitor = True
The top two lines of the HPI_HAM6.py code above are the modifications.
However, it does not sequence things quite as we would like: it completely restores the vertical dofs before even starting the isolation of the horizontal loops. Although this platform did not have difficulty completing the isolation, it is reasonable that some platforms could have trouble as it isolates the horizontal dofs after it has driven the vertical dofs to their target position. If those targets are extreme or whatever enough, the error point of the horizontal loops may be too large for the loops to engage stabily. The preference would be for all the loops to be running before any of the target positions are restored.
We'll look into changing the sequence more to our preference but TJ feels it could be complicated or at least deeper into the code. WP remains active.
Two comments to this work:
1. We loaded in the new code, saw the "code changes detected and committed" log, and then opened the graph to make sure that it had the new states we expected. It did. We brought the node to READY and then started to isolate but here it did not follow the new state graph, but the old one instead. I think this is <a href="https://bugzilla.ligo-wa.caltech.edu/bugzilla3/show_bug.cgi?id=1013">bug1013</a>, but we only changed the HPI_HAM6.py file which is not in a sub directory. The module that creates the edges is in a sub directory though, so this is what makes me think that it is the same bug.
2. Reorganizing the states as Hugh hopes to do will require a rewirte, or at least a major change to (userapps)/isi/common/guardian/isiguardianlib/isolation/edges.py. This can be done, if we get LLO on board, but probably during a commissioning break.
Given TJ's assessment of doing this the desired way, I will endeavor to make these changes to all the other HEPIs for restart next Maintenance period. We'll find out if any of the platforms are particularly sensitive to the sequence; and, plan to improve the process after O2.