Standalone Admittance Module

This folder is an independent admittance-control module using local IntegratedAdmittanceController (optas-based). This project received hardware support from the BOTA System.

Contents

• admittance_entry.py: runtime entry (sim + hardware)
• controller/integrated_admittance_controller.py: standalone integrated controller
• controller/qp_builder.py: standalone QP builder
• controller/config_schema.py: standalone config schema
• config/config_admit.yaml: standalone config
• urdf/meca_robot_with_botaandshaft.urdf: standalone URDF
• meshes/: URDF mesh assets
• hardware/ftsensor.py: force sensor driver

Dependencies

• numpy
• pyoptas
• mecademicpy
• pyyaml
• optas
• casadi
• pyserial
• crc
• mecademicpy (hardware mode only)

Optas Setup

Install required packages:

pip install optas casadi numpy pyyaml pyserial crc mecademicpy pyoptas

Quick check:

python -c "import optas, casadi; print('optas/casadi ok')"

If you run in ROS environment, ament_index_python can be used automatically. In standalone mode, this module falls back to local URDF path from config.

Config Notes (config/config_admit.yaml)

Required:

• parameters.urdf_string:
  • relative path is resolved from config/ folder
  • default: ../urdf/meca_robot_with_botaandshaft.urdf
• parameters.end_link_name: tracking link for Jacobian/QP
• parameters.tip_link_name: admittance mount frame used for twist transform
• parameters.dt: controller step time

QP / limits:

• parameters.wp, parameters.wr, parameters.wdq: twist/velocity costs
• parameters.q_min, parameters.q_max, parameters.dq_max: joint bounds

Admittance:

• admittance.force_gain, admittance.torque_gain
• admittance.mass, admittance.rot_mass
• admittance.damping, admittance.rot_damping
• admittance.compliance_offset
• admittance.reduandant_pos_axis, admittance.reduandant_rot_axis (optional)

Run

Simulation:

python admittance_entry.py --mode sim --steps 0

Hardware: (Linux)

python admittance_entry.py --mode hardware --steps 0 --robot-ip 192.168.0.100 --sensor-port /dev/ttyUSB0

(Windows)

python admittance_entry.py --mode hardware --steps 0 --robot-ip 192.168.0.100 --sensor-port COM3

GUI (pure Python tkinter, hardware only):

python admittance_entry.py --mode gui --robot-ip 192.168.0.100 --sensor-port /dev/ttyUSB0

Buttons in GUI:

• Hand-Guide: enter/stop admittance hand-guiding mode
• Home: move robot to predefined home joint angles from config (parameters.home_joint_deg)
• Record: start/stop CSV recording
• Replay: replay the latest recorded CSV trajectory using joint points (q1_deg ... q6_deg)

Replay behavior details:

• Replay uses the most recent file in records/ matching admittance_record_*.csv (or the file from the latest Record action in the current GUI session).
• Replay timing follows the recorded elapsed_s column to preserve trajectory timing.
• Replay command source is joint angle columns q1_deg ... q6_deg.
• Starting replay automatically stops Hand-Guide and Record to avoid command conflicts.
• Home also stops replay before moving to the home point.
• Press Replay again while replay is running to stop playback.

Recording CSV format:

• timestamp_unix_s, elapsed_s
• q1_rad ... q6_rad
• q1_deg ... q6_deg
• fx, fy, fz, mx, my, mz