From 757f63f6e1691924ef102200caface7f328a7ee2 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Fri, 28 Feb 2025 13:57:27 +0100
Subject: [PATCH] single arm and heron is runnable, dual-arm not finished by
 not break the rest

---
 .../technical_report/technical_report.aux     |   2 +
 .../technical_report/technical_report.log     | 273 ++++++++++++++++++
 .../technical_report/technical_report.pdf     | Bin 0 -> 46823 bytes
 .../technical_report.synctex.gz               | Bin 0 -> 4038 bytes
 .../technical_report/technical_report.tex     |  37 +++
 .../controller_templates/point_to_point.py    |   8 +-
 .../croco_mpc_point_to_point.py               |  10 +-
 .../point_to_point_croco_ocp.py               |   9 +-
 .../robots/interfaces/whole_body_interface.py |   5 +
 9 files changed, 336 insertions(+), 8 deletions(-)
 create mode 100644 examples/graz/technical_report/technical_report.aux
 create mode 100644 examples/graz/technical_report/technical_report.log
 create mode 100644 examples/graz/technical_report/technical_report.pdf
 create mode 100644 examples/graz/technical_report/technical_report.synctex.gz
 create mode 100644 examples/graz/technical_report/technical_report.tex

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diff --git a/examples/graz/technical_report/technical_report.log b/examples/graz/technical_report/technical_report.log
new file mode 100644
index 0000000..56c5124
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diff --git a/examples/graz/technical_report/technical_report.tex b/examples/graz/technical_report/technical_report.tex
new file mode 100644
index 0000000..4e851da
--- /dev/null
+++ b/examples/graz/technical_report/technical_report.tex
@@ -0,0 +1,37 @@
+\documentclass{article}
+\usepackage{amsmath}
+\newcommand{\argmin}{\arg\!\min} 
+\newcommand{\argmax}{\arg\!\max} 
+\usepackage{amssymb}
+\usepackage{amsfonts}
+\usepackage[T1]{fontenc}
+\usepackage{bm}
+\usepackage{array}
+\usepackage{graphicx}
+\usepackage[utf8]{inputenc}
+
+\title{Decentralized admitance control client}
+\date{date}
+\author{Marko Guberina}
+
+\begin{document}
+\maketitle
+The other robot, Universal Robots’ UR5e, is a 6-dof collaborative manipulator with a 5kg payload.
+Communication with the robot is achieved with via the Real-Time Data Exchange (RTDE) interface,
+with ur\_rtde for client-side implementation. The highest available communication frequency is 500Hz.
+Wrench sensing is obtained from UR5e’s built-in force-torque sensor via the same interface.
+The Robotiq 2F-85 gripper is connected to the robot’s wrist tool flange, and controlled via RS485 serial communication.
+The client-side communication protocol with the gripper is implemented in Python.
+The CLIK control law is implemented in a custom library written in Python, leveraging Pinocchio’s
+implementation of rigid body algorithms.
+Due to versioning incompatibilities between the library and ROS Melodic,
+communication with the ROS stack was handled by thin translation layer
+between ROS messages and protobuf with negligible overhead.
+
+
+
+
+
+
+
+\end{document}
diff --git a/python/smc/control/controller_templates/point_to_point.py b/python/smc/control/controller_templates/point_to_point.py
index e2b3596..8c319c0 100644
--- a/python/smc/control/controller_templates/point_to_point.py
+++ b/python/smc/control/controller_templates/point_to_point.py
@@ -7,7 +7,10 @@ from typing import Any, Callable
 import numpy as np
 from collections import deque
 
-from smc.robots.interfaces.whole_body_interface import SingleArmWholeBodyInterface
+from smc.robots.interfaces.whole_body_interface import (
+    SingleArmWholeBodyInterface,
+    DualArmWholeBodyInterface,
+)
 
 global control_loop_return
 control_loop_return = tuple[bool, dict[str, np.ndarray], dict[str, np.ndarray]]
@@ -115,6 +118,7 @@ def DualEEP2PCtrlLoopTemplate(
     log_item["r_err_norm"] = np.linalg.norm(err_vector_right)
     return breakFlag, save_past_item, log_item
 
+
 def EEAndBaseP2PCtrlLoopTemplate(
     SOLVER: Any,
     T_w_goal: SE3,
@@ -230,7 +234,7 @@ def DualEEAndBaseP2PCtrlLoopTemplate(
 
     if (
         (err_vector_left_norm < robot.args.goal_error)
-        and (err_vector_right_norm< robot.args.goal_error)
+        and (err_vector_right_norm < robot.args.goal_error)
         and (base_err_vector_norm < robot.args.goal_error)
     ):
         breakFlag = True
diff --git a/python/smc/control/optimal_control/croco_mpc_point_to_point.py b/python/smc/control/optimal_control/croco_mpc_point_to_point.py
index 72a34e4..8d4b489 100644
--- a/python/smc/control/optimal_control/croco_mpc_point_to_point.py
+++ b/python/smc/control/optimal_control/croco_mpc_point_to_point.py
@@ -4,14 +4,18 @@ from smc.control.controller_templates.point_to_point import (
     EEAndBaseP2PCtrlLoopTemplate,
     EEP2PCtrlLoopTemplate,
 )
-from smc.control.optimal_control.abstract_croco_ocp import CrocoOCP
 from smc.robots.interfaces.single_arm_interface import SingleArmInterface
 from smc.robots.interfaces.dual_arm_interface import DualArmInterface
+from smc.robots.interfaces.whole_body_interface import (
+    SingleArmWholeBodyInterface,
+    DualArmWholeBodyInterface,
+)
+from smc.control.optimal_control.abstract_croco_ocp import CrocoOCP
 from smc.control.optimal_control.point_to_point_croco_ocp import (
     SingleArmIKOCP,
     DualArmIKOCP,
     BaseAndSingleArmIKOCP,
-    BaseAndDualArmIKOCP
+    BaseAndDualArmIKOCP,
 )
 from smc.control.control_loop_manager import ControlLoopManager
 
@@ -21,8 +25,6 @@ from functools import partial
 from collections import deque
 from argparse import Namespace
 
-from smc.robots.interfaces.whole_body_interface import SingleArmWholeBodyInterface
-
 
 def CrocoEEP2PMPCControlLoop(
     ocp: CrocoOCP,
diff --git a/python/smc/control/optimal_control/point_to_point_croco_ocp.py b/python/smc/control/optimal_control/point_to_point_croco_ocp.py
index 707c0a1..d404299 100644
--- a/python/smc/control/optimal_control/point_to_point_croco_ocp.py
+++ b/python/smc/control/optimal_control/point_to_point_croco_ocp.py
@@ -1,6 +1,10 @@
 from smc.control.optimal_control.abstract_croco_ocp import CrocoOCP
 from smc.robots.interfaces.single_arm_interface import SingleArmInterface
 from smc.robots.interfaces.dual_arm_interface import DualArmInterface
+from smc.robots.interfaces.whole_body_interface import (
+    SingleArmWholeBodyInterface,
+    DualArmWholeBodyInterface,
+)
 
 import numpy as np
 import pinocchio as pin
@@ -147,7 +151,7 @@ class BaseAndSingleArmIKOCP(SingleArmIKOCP):
     def __init__(
         self,
         args: Namespace,
-        robot: SingleArmInterface,
+        robot: SingleArmWholeBodyInterface,
         x0: np.ndarray,
         goal,
         #        T_w_eegoal: pin.SE3,
@@ -197,6 +201,7 @@ class BaseAndSingleArmIKOCP(SingleArmIKOCP):
             "base_translation" + str(self.args.n_knots)
         ].cost.residual.reference = p_basegoal
 
+
 class BaseAndDualArmIKOCP(DualArmIKOCP):
     def __init__(
         self,
@@ -214,7 +219,7 @@ class BaseAndDualArmIKOCP(DualArmIKOCP):
         # self, T_w_eegoal: pin.SE3, p_basegoal: np.ndarray
         self,
         goal,
-    )-> None:
+    ) -> None:
         T_w_lgoal, T_w_rgoal, p_basegoal = goal
         super().constructTaskObjectiveFunction((T_w_lgoal, T_w_rgoal))
         for i in range(self.args.n_knots):
diff --git a/python/smc/robots/interfaces/whole_body_interface.py b/python/smc/robots/interfaces/whole_body_interface.py
index 752fdff..e88c1d9 100644
--- a/python/smc/robots/interfaces/whole_body_interface.py
+++ b/python/smc/robots/interfaces/whole_body_interface.py
@@ -1,5 +1,6 @@
 from smc.robots.interfaces.mobile_base_interface import MobileBaseInterface
 from smc.robots.interfaces.single_arm_interface import SingleArmInterface
+from smc.robots.interfaces.dual_arm_interface import DualArmInterface
 
 import pinocchio as pin
 from argparse import Namespace
@@ -135,3 +136,7 @@ class SingleArmWholeBodyInterface(SingleArmInterface, MobileBaseInterface):
         assert len(v) == self.model.nv
         v = np.clip(v, -1 * self._max_v, self._max_v)
         self.sendVelocityCommandToReal(v)
+
+
+class DualArmWholeBodyInterface(DualArmInterface, MobileBaseInterface):
+    pass
-- 
GitLab