GCWF: Geometric Contact Wrench Feasibility

Example code of
A Geometric Sufficient Condition for Contact Wrench Feasibility
Shenggao Li* $^1$, Hua Chen $^2$, Wei Zhang $^2$, Patrick M. Wensing $^1$

Background

In our paper, we introduced a geometry-based framework to approximate the exact Contact Wrench Cone (CWC) including two approaches with different accuracy-speed balance. By comparing to the exact CWC solved by MOSEK, the preferred approach 2 can find the yaw moment interval with only 7.13% error but 140 times faster.

Dependencies and Requirements

OS: MacOSX or Linux (x86/x64)
- Tested on OSX Catalina 10.15 and Ubuntu 16.04 & 18.04

MOSEK 9.3 - For solving the Second-Order-Cone-Program of exact CWC.
- Please follow the installation guide, compile the Fusion API, and make sure your license is properly configured as explained in license guide.
- Our code is developed based on MOSEK 9.3. It should be compatible with newer 10.0 version but has not been tested (due to our license restriction).
- Note: the folder <MSKHOME> in which the MOSEK Optimization Suite has been installed would be used in later compiling procedure.
MATLAB 2019a or later - For sample data generation and computing statistical result.

Getting Started

Install

Download this project

git clone https://github.com/ROAM-Lab-ND/GCWF.git
cd GCWF

Run the setup script and follow the instruction to configure the MOSEK library and compile this project.

./setup.sh <MSKHOME>

<MSKHOME> contains your MOSEK library like <MSKHOME>/mosek/9.3/tools/...

Available Makefile commands

make clean to remove all compiling and executable files of this project (but keeps MOSEK library).
make clean_MOSEK to clean the MOSEK library.
make all to compile all (both MOSEK library and this project).

Run Example

Run the script Matlab/SampleAndCompute.m in MATLAB to generate new data, run the solver, and plot the result. You should have results similar to the following:

Method	Error	Standard Deviation	Computation Time ( $\mu s$ )
$2^{\rm nd}$-CWC	0%	0%	556.97
$1^{\rm st}$-CWC (4 edges)	19.35%	15.02%	682.29
$1^{\rm st}$-CWC (8 edges)	8.37%	9.94%	961.77
Appraoch 1 (Longest Centered Line)	18.80%	16.63%	3.56
Appraoch 2 (Enumerate All Vertices)	7.13%	5.54%	3.64
Grid Search (81 grids)	7.13%	5.56%	50.49
Optimal Supporting Line	6.50%	4.88%	2954.9

Troubleshooting

MOSEK is not installed: TODO: set flag in MATLAB script to solve CWC via native MATLAB function ...
For Mac, run the python script in installation guide is important for MOSEK.
If both MOSEK and our project cannot be installed, you can directly run MATLAB script Matlab/CompareResult.m and choose an example data set to see the result.

Citation

@ARTICLE{li2022gcfw,  
  author={Li, Shenggao and Chen, Hua and Zhang, Wei and Wensing, Patrick M.},  
  journal={IEEE Robotics and Automation Letters},   
  title={A Geometric Sufficient Condition for Contact Wrench Feasibility},   
  year={2022},  
  volume={},  
  number={},  
  pages={1-8},  
  doi={10.1109/LRA.2022.3217687}
}

Contact

$^{1}$ University of Notre Dame, South Bend, IN, US. {sli25,pwensing}@nd.edu
$^{2}$ Southern University of Science and Technology, Shenzhen, China. {chenh6,zhangw3}@sustech.edu.cn

ROAM-Lab-ND/GCWF

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