MixedImpedanceVelocityController.cpp

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ...
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2024
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "MixedImpedanceVelocityController.h"
 
#include <SimoxUtility/color/Color.h>
#include <VirtualRobot/MathTools.h>
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/RobotNodeSet.h>
 
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
#include <ArmarXCore/core/PackagePath.h> // for GUI
#include <ArmarXCore/core/time/CycleUtil.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/observers/variant/SingleTypeVariantList.h> // for GUI
 
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
 
#include <armarx/control/common/aron_conversions.h> // for GUI
#include <armarx/control/common/utils.h>
#include <armarx/control/ethercat/RTUtility.h>
 
namespace armarx::control::njoint_controller::task_space
{
    NJointControllerRegistration<NJointTaskspaceMixedImpedanceVelocityController>
        registrationControllerNJointTaskspaceMixedImpedanceVelocityController(
            "NJointTaskspaceMixedImpedanceVelocityController");
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::limbInit(const std::string nodeSetName,
                                                              ArmPtr& arm,
                                                              Config& cfg,
                                                              VirtualRobot::RobotPtr& nonRtRobotPtr)
    {
        arm->kinematicChainName = nodeSetName;
        VirtualRobot::RobotNodeSetPtr rtRns =
            rtGetRobot()->getRobotNodeSet(arm->kinematicChainName);
        VirtualRobot::RobotNodeSetPtr nonRtRns =
            nonRtRobotPtr->getRobotNodeSet(arm->kinematicChainName);
        ARMARX_CHECK_EXPRESSION(rtRns) << arm->kinematicChainName;
        ARMARX_CHECK_EXPRESSION(nonRtRns) << arm->kinematicChainName;
        ARMARX_IMPORTANT << "Creating Taskspace Impedance controller with kinematic chain: "
                         << arm->kinematicChainName << " with num of joints: (RT robot) "
                         << rtRns->getSize() << ", and (non-RT robot) " << nonRtRns->getSize();
 
        std::vector<size_t> jointIDTorqueMode;
        std::vector<size_t> jointIDVelocityMode;
        arm->jointNames.clear();
        for (size_t i = 0; i < rtRns->getSize(); ++i)
        {
            std::string jointName = rtRns->getNode(i)->getName();
            arm->jointNames.push_back(jointName);
 
            bool foundControlDevice = false;
            auto it = std::find(
                cfg.jointNameListTorque.begin(), cfg.jointNameListTorque.end(), jointName);
            if (it != cfg.jointNameListTorque.end())
            {
                ControlTargetBase* ct = useControlTarget(jointName, ControlModes::Torque1DoF);
                ARMARX_CHECK_EXPRESSION(ct)
                    << "Could not get control target for " << QUOTED(jointName) << ". "
                    << "If this joint is currently not available (e.g., belonging to an "
                    << "unavailable arm), make sure to select a controller config that respects "
                       "this.";
                auto* casted_ct = ct->asA<ControlTarget1DoFActuatorTorque>();
                ARMARX_CHECK_EXPRESSION(casted_ct);
                arm->targetsTorque.push_back(casted_ct);
                jointIDTorqueMode.push_back(i);
                foundControlDevice = true;
            }
 
            it = std::find(
                cfg.jointNameListVelocity.begin(), cfg.jointNameListVelocity.end(), jointName);
            if (it != cfg.jointNameListVelocity.end())
            {
                ControlTargetBase* ct = useControlTarget(jointName, ControlModes::Velocity1DoF);
                ARMARX_CHECK_EXPRESSION(ct);
                auto* casted_ct = ct->asA<ControlTarget1DoFActuatorVelocity>();
                ARMARX_CHECK_EXPRESSION(casted_ct);
                arm->targetsVel.push_back(casted_ct);
                jointIDVelocityMode.push_back(i);
                foundControlDevice = true;
            }
            if (not foundControlDevice)
            {
                auto namesTorque = armarx::control::common::sVecToString(cfg.jointNameListTorque);
                auto namesVelocity =
                    armarx::control::common::sVecToString(cfg.jointNameListVelocity);
                ARMARX_ERROR << "Does not found valid control device for joint name: " << jointName
                             << "Please check torque controlled joints: [" << namesTorque
                             << "] and velocity controlled joints: [" << namesVelocity << "].";
            }
 
            const SensorValueBase* sv = useSensorValue(jointName);
            ARMARX_CHECK_EXPRESSION(sv);
            arm->sensorDevices.append(sv, jointName);
        };
        ARMARX_DEBUG << "Number of torque controlled joints " << jointIDTorqueMode.size();
        ARMARX_DEBUG << "Number of velocity controlled joints " << jointIDVelocityMode.size();
        ARMARX_CHECK_EQUAL(rtRns->getNodeNames().size(),
                           jointIDTorqueMode.size() + jointIDVelocityMode.size());
 
        arm->controller.initialize(nonRtRns, rtRns, jointIDTorqueMode, jointIDVelocityMode);
        arm->controller.ftsensor.initialize(rtRns, robotUnit, cfg.ftConfig);
 
        validateConfigData(cfg, arm);
        arm->rtConfig = cfg;
        arm->nonRtConfig = cfg;
        arm->rtStatus.reset(rtRns->getSize(), jointIDTorqueMode, jointIDVelocityMode);
    }
 
    NJointTaskspaceMixedImpedanceVelocityController::
        NJointTaskspaceMixedImpedanceVelocityController(const RobotUnitPtr& robotUnit,
                                                        const NJointControllerConfigPtr& config,
                                                        const VirtualRobot::RobotPtr&) :
        robotUnit(robotUnit)
    {
        ARMARX_CHECK_EXPRESSION(robotUnit);
 
        ConfigPtrT cfg = ConfigPtrT::dynamicCast(config);
        ARMARX_CHECK_EXPRESSION(cfg);
        userConfig.fromAron(cfg->config);
 
        useSynchronizedRtRobot();
        nonRtRobot = robotUnit->cloneRobot();
        robotUnit->updateVirtualRobot(nonRtRobot);
 
        for (auto& pair : userConfig.limbs)
        {
            limb.emplace(pair.first, std::make_unique<ArmData>());
            limbInit(pair.first, limb.at(pair.first), pair.second, nonRtRobot);
            controllableNodeSets.emplace(pair.first, nonRtRobot->getRobotNodeSet(pair.first));
        }
 
        if (not userConfig.hands.empty())
        {
            hands =
                std::make_shared<core::HandControlBase>(robotUnit, nonRtRobot, userConfig.hands);
            for (auto& pair : userConfig.hands)
            {
                ARMARX_INFO << "construction of hand "
                            << hands->hands.at(pair.first)->kinematicChainName;
                controllableNodeSets.emplace(pair.first, nonRtRobot->getRobotNodeSet(pair.first));
            }
        }
    }
 
    std::string
    NJointTaskspaceMixedImpedanceVelocityController::getClassName(const Ice::Current&) const
    {
        return "NJointTaskspaceMixedImpedanceVelocityController";
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::onInitNJointController()
    {
        std::string taskName = getClassName() + "AdditionalTask";
        runTask(taskName,
                [&]
                {
                    armarx::control::ethercat::RTUtility::pinThreadToCPU(
                        4); // please don't set this to 0 as it is the rtRun/control thread
                    armarx::control::ethercat::RTUtility::elevateThreadPriority(
                        armarx::control::ethercat::RTUtility::RT_THREAD_PRIORITY);
 
                    CycleUtil c(1);
                    getObjectScheduler()->waitForObjectStateMinimum(eManagedIceObjectStarted);
                    ARMARX_IMPORTANT << "Create a new thread for " << getClassName();
                    while (getState() == eManagedIceObjectStarted)
                    {
                        if (isControllerActive())
                        {
                            additionalTask();
                        }
                        c.waitForCycleDuration();
                    }
                });
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::limbNonRT(ArmPtr& arm)
    {
        arm->bufferConfigNonRtToRt.getWriteBuffer() = arm->nonRtConfig;
        arm->bufferConfigNonRtToRt.commitWrite();
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::additionalTask()
    {
        //        bool rtSafe = additionalTaskUpdateStatus();
        auto [rtTargetSafe, ftSafe] = additionalTaskUpdateStatus();
        additionalTaskSetTarget();
        if (not rtTargetSafe)
        {
            handleRTNotSafeInNonRT();
        }
    }
 
    std::tuple<bool, bool>
    NJointTaskspaceMixedImpedanceVelocityController::additionalTaskUpdateStatus()
    {
        robotUnit->updateVirtualRobot(nonRtRobot);
        bool rtSafe = true;
        bool rtTargetSafe = true;
        bool forceTorqueSafe = true;
        for (auto& pair : limb)
        {
            auto& arm = pair.second;
            arm->nonRtConfig = arm->bufferConfigUserToNonRt.getUpToDateReadBuffer();
            arm->rtStatusInNonRT = arm->bufferRtStatusToNonRt.getUpToDateReadBuffer();
            rtSafe = rtSafe and pair.second->rtStatusInNonRT.rtSafe;
            rtTargetSafe = rtTargetSafe and pair.second->rtStatusInNonRT.rtTargetSafe;
            forceTorqueSafe = forceTorqueSafe and pair.second->rtStatusInNonRT.forceTorqueSafe;
        }
        if (hands)
        {
            hands->nonRTUpdateStatus();
        }
        return std::make_tuple(rtTargetSafe, forceTorqueSafe);
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::additionalTaskSetTarget()
    {
        for (auto& pair : limb)
        {
            limbNonRT(pair.second);
        }
        if (hands)
        {
            hands->nonRTSetTarget();
        }
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::handleRTNotSafeInNonRT()
    {
        for (auto& pair : limb)
        {
            if (not pair.second->rtReady)
                continue;
 
            if (not pair.second->rtStatusInNonRT.rtTargetSafe)
            {
                common::reportPoseDeviationWarning(pair.first,
                                                   pair.second->rtStatusInNonRT.currentPose,
                                                   pair.second->rtStatusInNonRT.desiredPoseUnsafe,
                                                   "current pose",
                                                   "desired pose");
            }
        }
    }
 
    /// -------------------------------- Real time cotnrol -----------------------------------------
    void
    NJointTaskspaceMixedImpedanceVelocityController::limbRTUpdateStatus(ArmPtr& arm,
                                                                        const double deltaT)
    {
        arm->rtConfig = arm->bufferConfigNonRtToRt.getUpToDateReadBuffer();
        arm->rtStatus.deltaT = deltaT;
        arm->rtStatus.accumulateTime += deltaT;
 
        arm->controller.ftsensor.updateStatus(arm->rtConfig.ftConfig,
                                              arm->rtStatus.currentForceTorque,
                                              arm->rtStatus.deltaT,
                                              arm->rtFirstRun.load());
        arm->rtStatus.safeFTGuardOffset.head<3>() =
            arm->controller.ftsensor.getSafeGuardForceOffset();
 
        arm->sensorDevices.updateJointValues(
            arm->rtStatus.jointPosition, arm->rtStatus.jointVelocity, arm->rtStatus.jointTorque);
        //        rtGetRobot()->getRobotNodeSet(arm->kinematicChainName)
 
 
        arm->bufferRtStatusToNonRt.getWriteBuffer() = arm->rtStatus;
        arm->bufferRtStatusToNonRt.commitWrite();
        arm->bufferRtStatusToUser.getWriteBuffer() = arm->rtStatus;
        arm->bufferRtStatusToUser.commitWrite();
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::limbRTSetTarget(
        ArmPtr& arm,
        const size_t nDoFTorque,
        const size_t nDoFVelocity,
        const Eigen::VectorXf& targetTorque,
        const Eigen::VectorXf& targetVelocity)
    {
        for (size_t i = 0; i < nDoFTorque; i++)
        {
            auto jointIdx = arm->controller.jointIDTorqueMode[i];
            arm->targetsTorque.at(i)->torque = targetTorque(jointIdx);
            if (!arm->targetsTorque.at(i)->isValid())
            {
                arm->targetsTorque.at(i)->torque = 0;
            }
        }
        for (size_t i = 0; i < nDoFVelocity; i++)
        {
            auto jointIdx = arm->controller.jointIDVelocityMode[i];
            arm->targetsVel.at(i)->velocity = targetVelocity(jointIdx);
            // if (!targets.at(i)->isValid() || fabs(targets.at(i)->velocity) > cfg->maxJointVelocity)
            if (!arm->targetsVel.at(i)->isValid())
            {
                arm->targetsVel.at(i)->velocity = 0;
            }
        }
        arm->bufferRtStatusToOnPublish.getWriteBuffer() = arm->rtStatus;
        arm->bufferRtStatusToOnPublish.commitWrite();
 
        arm->bufferConfigRtToOnPublish.getWriteBuffer() = arm->rtConfig;
        arm->bufferConfigRtToOnPublish.commitWrite();
 
        arm->bufferConfigRtToUser.getWriteBuffer() = arm->rtConfig;
        arm->bufferConfigRtToUser.commitWrite();
 
        if (arm->rtFirstRun.load())
        {
            arm->rtFirstRun.store(false);
            arm->rtReady.store(true);
        }
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::limbRT(ArmPtr& arm, const double deltaT)
    {
        double time_measure = IceUtil::Time::now().toMicroSecondsDouble();
        // limbRTUpdateStatus(arm, deltaT);
        // double time_update_status = IceUtil::Time::now().toMicroSecondsDouble() - time_measure;
 
        arm->controller.run(arm->rtConfig, arm->rtStatus);
        double time_run_rt = IceUtil::Time::now().toMicroSecondsDouble() - time_measure;
 
        limbRTSetTarget(arm,
                        arm->rtStatus.nDoFTorque,
                        arm->rtStatus.nDoFVelocity,
                        arm->rtStatus.desiredJointTorque,
                        arm->rtStatus.desiredJointVelocity);
 
        double time_set_target = IceUtil::Time::now().toMicroSecondsDouble() - time_measure;
        time_measure = IceUtil::Time::now().toMicroSecondsDouble() - time_measure;
 
        if (time_measure > 200)
        {
            ARMARX_RT_LOGF_WARN("---- rt too slow: "
                                "run_rt_limb: %.2f\n"
                                "set_target_limb: %.2f\n"
                                "time all: %.2f\n",
                                time_run_rt - time_measure, //
                                time_set_target - time_run_rt, //
                                time_measure)
                .deactivateSpam(1.0f); // 0-1 us
        }
    }
 
    /// some method for coordinator
    void
    NJointTaskspaceMixedImpedanceVelocityController::updateInputData(
        const std::string& key,
        const Eigen::Matrix4f& targetPose,
        const PoseFrameMode& targetPoseMode,
        const Eigen::Matrix4f& pose,
        const Eigen::Vector6f& vel,
        const Eigen::Vector6f& ft,
        const Eigen::Vector6f& stiffness)
    {
        if (coordinatorInputData.find(key) != coordinatorInputData.end())
        {
            // Update existing InputData
            auto& data = coordinatorInputData.at(key);
            data.pose = pose;
            data.targetPose = targetPose;
            data.targetPoseMode = targetPoseMode;
            data.vel = vel;
            data.ft = ft;
            data.stiffness = stiffness;
        }
        else
        {
            coordinatorInputData.emplace(key,
                                         common::coordination::InputData(
                                             targetPose, targetPoseMode, pose, vel, ft, stiffness));
        }
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::rtRunCoordinator(double deltaT)
    {
        if (not coordinatorEnabled.load() or not coordinator)
        {
            return;
        }
 
        bool rtReady = false;
        for (const auto& nodeset : coordinator->getNodesetList())
        {
            auto& rts = limb.at(nodeset)->rtStatus;
            auto& rtc = limb.at(nodeset)->rtConfig;
            rtReady = limb.at(nodeset)->rtReady.load();
            updateInputData(nodeset,
                            rtc.desiredPose,
                            rtc.desiredPoseFrameMode,
                            rts.currentPose,
                            rts.currentTwist,
                            rts.currentForceTorque,
                            rtc.kpImpedance);
        }
        if (not rtReady)
        {
            return;
        }
        coordinator->runRT(coordinatorInputData, deltaT);
        for (const auto& nodeset : coordinator->getNodesetList())
        {
            limb.at(nodeset)->rtConfig.desiredPose = coordinatorInputData.at(nodeset).targetPose;
            limb.at(nodeset)->rtConfig.desiredPoseFrameMode = PoseFrameMode::root;
        }
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::rtRun(
        const IceUtil::Time& /*sensorValuesTimestamp*/,
        const IceUtil::Time& timeSinceLastIteration)
    {
        double deltaT = timeSinceLastIteration.toSecondsDouble();
        for (auto& pair : limb)
        {
            limbRTUpdateStatus(pair.second, deltaT);
        }
 
        rtRunCoordinator(deltaT);
 
        for (auto& pair : limb)
        {
            limbRT(pair.second, deltaT);
        }
        if (hands)
        {
            hands->updateRTStatus(deltaT);
        }
    }
 
    /// ------------------------------ update/get config -------------------------------------------
    void
    NJointTaskspaceMixedImpedanceVelocityController::updateConfig(
        const ::armarx::aron::data::dto::DictPtr& dto,
        const Ice::Current& iceCurrent)
    {
        auto prevCfg = userConfig;
        userConfig.fromAron(dto);
 
        for (auto& pair : userConfig.limbs)
        {
            validateConfigData(pair.second, limb.at(pair.first));
            bool desiredPoseFrameModeSame = prevCfg.limbs.at(pair.first).desiredPoseFrameMode ==
                                            pair.second.desiredPoseFrameMode;
            if (desiredPoseFrameModeSame and common::detectAndReportPoseDeviationWarning(
                                                 pair.second.desiredPose,
                                                 prevCfg.limbs.at(pair.first).desiredPose,
                                                 "new desired pose",
                                                 "previous desired pose",
                                                 pair.second.safeDistanceMMToGoal,
                                                 pair.second.safeRotAngleDegreeToGoal,
                                                 "updateConfig_" + pair.first))
            {
                ARMARX_INFO << "use the existing target pose";
                pair.second.desiredPose = prevCfg.limbs.at(pair.first).desiredPose;
            }
            limb.at(pair.first)->bufferConfigUserToNonRt.getWriteBuffer() = pair.second;
            limb.at(pair.first)->bufferConfigUserToNonRt.commitWrite();
        }
        if (hands)
        {
            hands->updateConfig(userConfig.hands);
        }
    }
 
    ::armarx::aron::data::dto::DictPtr
    NJointTaskspaceMixedImpedanceVelocityController::getConfig(const Ice::Current& iceCurrent)
    {
        for (auto& pair : limb)
        {
            userConfig.limbs.at(pair.first) =
                pair.second->bufferConfigRtToUser.getUpToDateReadBuffer();
        }
        if (hands)
        {
            hands->getConfig(userConfig.hands);
        }
        return userConfig.toAronDTO();
    }
 
    ::armarx::aron::data::dto::DictPtr
    NJointTaskspaceMixedImpedanceVelocityController::getRTStatus(const Ice::Current& iceCurrent)
    {
        for (auto& pair : limb)
        {
            userConfig.limbs.at(pair.first) =
                pair.second->bufferConfigRtToUser.getUpToDateReadBuffer();
        }
        if (hands)
        {
            hands->getConfig(userConfig.hands);
        }
        return userConfig.toAronDTO();
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::enableSafeGuardForceTorque(
        const std::string& nodeSetName,
        const bool forceGuard,
        const bool torqueGuard,
        const Ice::Current& iceCurrent)
    {
        auto it = userConfig.limbs.find(nodeSetName);
        if (it != userConfig.limbs.end())
        {
            it->second.ftConfig.enableSafeGuardForce = forceGuard;
            it->second.ftConfig.enableSafeGuardTorque = torqueGuard;
            limb.at(nodeSetName)->controller.ftsensor.enableSafeGuard(forceGuard, torqueGuard);
            ARMARX_IMPORTANT
                << "reset safe guard with force torque sensors: safe? "
                << limb.at(nodeSetName)->controller.ftsensor.isSafe(it->second.ftConfig);
            limb.at(nodeSetName)->bufferConfigUserToNonRt.getWriteBuffer() = it->second;
            limb.at(nodeSetName)->bufferConfigUserToNonRt.commitWrite();
        }
        else
        {
            ARMARX_WARNING << "no robot node set with name " << nodeSetName
                           << " found in the controllers.";
        }
    }
 
    /// -------------------------------- Other interaces -------------------------------------------
    bool
    NJointTaskspaceMixedImpedanceVelocityController::isSafeForceTorque(
        const std::string& nodeSetName,
        const Ice::Current& iceCurrent)
    {
        auto it = userConfig.limbs.find(nodeSetName);
        if (it != userConfig.limbs.end())
        {
            return limb.at(nodeSetName)->controller.ftsensor.ftSafe.load();
        }
 
        ARMARX_WARNING << "no robot node set with name " << nodeSetName
                       << " found in the controllers.";
        return false;
    }
 
    Ice::FloatSeq
    NJointTaskspaceMixedImpedanceVelocityController::getTCPVel(const std::string& rns,
                                                               const Ice::Current& iceCurrent)
    {
        std::vector<float> tcpVel;
        auto& arm = limb.at(rns);
        auto s = arm->bufferRtStatusToUser.getUpToDateReadBuffer();
        for (int i = 0; i < s.currentTwist.size(); i++)
        {
            tcpVel.push_back(s.currentTwist[i]);
        }
        return tcpVel;
    }
 
    Ice::DoubleSeq
    NJointTaskspaceMixedImpedanceVelocityController::getCurrentTCPPose(
        const std::string& nodeSetName,
        const Ice::Current& iceCurrent)
    {
        auto search = limb.find(nodeSetName);
        if (search == limb.end())
        {
            ARMARX_WARNING << "requested node set " << nodeSetName
                           << "does not exist in the controller";
            return std::vector<double>{};
        }
 
        auto& arm = limb.at(nodeSetName);
        auto currentPose = arm->bufferRtStatusToOnPublish.getUpToDateReadBuffer().currentPose;
        ARMARX_DEBUG << "returning current pose" << VAROUT(currentPose);
        return common::mat4ToDVec(currentPose);
    }
 
    bool
    NJointTaskspaceMixedImpedanceVelocityController::updateTargetPose(
        const TargetPoseMap& targetPoseMap,
        const TargetNullspaceMap& targetNullspaceMap,
        const Ice::Current& iceCurrent)
    {
        for (auto& pair : userConfig.limbs)
        {
            for (size_t i = 0; i < 4; ++i)
            {
                for (int j = 0; j < 4; ++j)
                {
                    pair.second.desiredPose(i, j) = targetPoseMap.at(pair.first)[i][j];
                }
            }
            if (targetNullspaceMap.at(pair.first).size() > 0)
            {
                const size_t nDoF = pair.second.desiredNullspaceJointAngles.value().size();
                ARMARX_CHECK_EQUAL(targetNullspaceMap.at(pair.first).size(), nDoF)
                    << "the joint numbers does not match";
                for (size_t i = 0; i < nDoF; ++i)
                {
                    pair.second.desiredNullspaceJointAngles.value()(i) =
                        targetNullspaceMap.at(pair.first)[i];
                }
            }
            limb.at(pair.first)->bufferConfigUserToNonRt.getWriteBuffer() = pair.second;
            limb.at(pair.first)->bufferConfigUserToNonRt.commitWrite();
        }
        return true;
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::validateConfigData(Config& configData,
                                                                        ArmPtr& arm)
    {
        const auto nDoF = arm->jointNames.size();
 
        const auto checkSize = [nDoF](const auto& v) { ARMARX_CHECK_EQUAL(v.rows(), nDoF); };
        const auto checkNonNegative = [](const auto& v) { ARMARX_CHECK((v.array() >= 0).all()); };
 
        if (!configData.desiredNullspaceJointAngles.has_value())
        {
            if (!isControllerActive())
            {
                ARMARX_INFO << "No user defined nullspace target, reset to zero with "
                            << VAROUT(nDoF);
                configData.desiredNullspaceJointAngles = Eigen::VectorXf::Zero(nDoF);
                arm->reInitPreActivate.store(true);
            }
            else
            {
                auto currentValue =
                    arm->bufferConfigRtToUser.getUpToDateReadBuffer().desiredNullspaceJointAngles;
                ARMARX_WARNING
                    << "Controller is active, but no user defined nullspace target. \n"
                       "You should first get up-to-date config of this controller and then update "
                       "it:\n"
                       "    auto cfg = ctrl->getConfig(); \n"
                       "    cfg.desiredPose = xxx;\n"
                       "    ctrl->updateConfig(cfg);\n"
                       "Now, I decide by myself to use the existing values of nullspace target\n"
                    << currentValue.value();
                configData.desiredNullspaceJointAngles = currentValue;
            }
        }
        ARMARX_CHECK_GREATER(configData.safeDistanceMMToGoal, 100.0f);
        checkSize(configData.desiredNullspaceJointAngles.value());
        checkSize(configData.kdNullspaceTorque);
        checkSize(configData.kpNullspaceTorque);
        checkSize(configData.kdNullspaceVel);
        checkSize(configData.kpNullspaceVel);
 
        checkNonNegative(configData.kdNullspaceTorque);
        checkNonNegative(configData.kpNullspaceTorque);
        checkNonNegative(configData.kpNullspaceVel);
        checkNonNegative(configData.kdNullspaceVel);
        checkNonNegative(configData.kdImpedance);
        checkNonNegative(configData.kpImpedance);
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::limbPublish(
        ArmPtr& arm,
        const DebugObserverInterfacePrx& debugObs)
    {
        StringVariantBaseMap datafields;
        auto rtData = arm->bufferConfigRtToOnPublish.getUpToDateReadBuffer();
        auto rtStatus = arm->bufferRtStatusToOnPublish.getUpToDateReadBuffer();
 
        common::debugEigenVec(datafields, "kpImpedance", rtData.kpImpedance);
        common::debugEigenVec(datafields, "kdImpedance", rtData.kdImpedance);
        if (rtData.desiredNullspaceJointAngles.has_value())
        {
            common::debugEigenVec(datafields,
                                  "desiredNullspaceJointAngles",
                                  rtData.desiredNullspaceJointAngles.value());
        }
 
        common::debugEigenVec(datafields, "jointPosition", rtStatus.jointPosition);
        common::debugEigenVec(datafields, "jointVelocity", rtStatus.jointVelocity);
        common::debugEigenVec(datafields, "qvelFiltered", rtStatus.qvelFiltered);
 
        common::debugEigenPose(datafields, "current_pose", rtStatus.currentPose);
        common::debugEigenPose(datafields, "desired_pose", rtStatus.desiredPose);
        float positionError =
            (common::getPos(rtStatus.currentPose) - common::getPos(rtStatus.desiredPose)).norm();
        float angleError =
            common::getDeltaAngleBetweenPose(rtStatus.currentPose, rtStatus.desiredPose);
        datafields["poseError_position"] = new Variant(positionError);
        datafields["poseError_angle"] = new Variant(angleError);
        datafields["poseError_threshold_position"] = new Variant(rtData.safeDistanceMMToGoal);
        datafields["poseError_threshold_angle"] = new Variant(rtData.safeRotAngleDegreeToGoal);
 
        common::debugEigenVec(datafields, "current_twist", rtStatus.currentTwist);
        common::debugEigenVec(datafields, "poseErrorImp", rtStatus.poseErrorImp);
 
        common::debugEigenVec(datafields, "currentForceTorque", rtStatus.currentForceTorque);
        common::debugEigenVec(datafields, "safeFTGuardOffset", rtStatus.safeFTGuardOffset);
 
        float currentForceNorm = rtStatus.currentForceTorque.head<3>().norm();
        float currentTorqueNorm = rtStatus.currentForceTorque.tail<3>().norm();
        float safeForceGuardOffsetNorm = rtStatus.safeFTGuardOffset.head<3>().norm();
        float safeTorqueGuardOffsetNorm = rtStatus.safeFTGuardOffset.tail<3>().norm();
        datafields["currentForceNorm"] = new Variant(currentForceNorm);
        datafields["currentTorqueNorm"] = new Variant(currentTorqueNorm);
        datafields["safeForceGuardOffsetNorm"] = new Variant(safeForceGuardOffsetNorm);
        datafields["safeTorqueGuardOffsetNorm"] = new Variant(safeTorqueGuardOffsetNorm);
        datafields["safeForceGuardDifference"] =
            new Variant(currentForceNorm - safeForceGuardOffsetNorm);
        datafields["safeTorqueGuardDifference"] =
            new Variant(currentTorqueNorm - safeTorqueGuardOffsetNorm);
        datafields["safeForceGuardThreshold"] =
            new Variant(rtData.ftConfig.safeGuardForceThreshold);
        datafields["safeTorqueGuardThreshold"] =
            new Variant(rtData.ftConfig.safeGuardTorqueThreshold);
 
        datafields["rtSafe"] = new Variant(rtStatus.rtSafe * 1.0);
        datafields["rtTargetSafe"] = new Variant(rtStatus.rtTargetSafe * 1.0);
        bool forceTrigger = (not rtStatus.rtSafe) and rtStatus.rtTargetSafe;
        datafields["forceTrigger"] = new Variant(forceTrigger * 1.0);
        datafields["forceTorqueSafe"] = new Variant(rtStatus.forceTorqueSafe * 1.0);
 
        common::debugEigenVec(datafields, "forceImpedance", rtStatus.forceImpedance);
        common::debugEigenVec(datafields, "cartesianVelTarget", rtStatus.cartesianVelTarget);
 
        common::debugEigenVec(datafields, "desiredJointTorques", rtStatus.desiredJointTorque);
        common::debugEigenVec(datafields, "desiredJointVelocity", rtStatus.desiredJointVelocity);
        common::debugEigenVec(datafields, "nullspaceTorque", rtStatus.nullspaceTorque);
        common::debugEigenVec(datafields, "nullspaceVelocity", rtStatus.nullspaceVelocity);
        debugObs->setDebugChannel(getClassName() + "_" + arm->kinematicChainName, datafields);
 
        viz::Layer layer = arviz.layer(getClassName() + "_" + arm->kinematicChainName);
        layer.add(viz::Arrow("tsImpForce")
                      .fromTo(common::getPos(rtStatus.currentPose),
                              common::getPos(rtStatus.currentPose) +
                                  rtStatus.forceImpedance.head<3>() * 5.0)
                      .color(simox::Color::green()));
        //        arviz.commit(layer);
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::onPublish(
        const SensorAndControl&,
        const DebugDrawerInterfacePrx&,
        const DebugObserverInterfacePrx& debugObs)
    {
        for (auto& pair : limb)
        {
            if (not pair.second->rtReady.load())
                continue;
            limbPublish(pair.second, debugObs);
        }
        if (hands)
        {
            hands->onPublish(debugObs);
        }
        onPublishCoordinator(debugObs);
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::onPublishCoordinator(
        const DebugObserverInterfacePrx& debugObs)
    {
        if (!coordinator)
        {
            return;
        }
        StringVariantBaseMap datafields;
        auto& cfg = coordinator->bufferUserCfgToPublish.getUpToDateReadBuffer();
        auto data = coordinator->bufferDataRtToPublish.getUpToDateReadBuffer();
        common::debugEigenPose(datafields, "current_pose", data.currentPose);
        common::debugEigenPose(datafields, "virtualPose", data.virtualPose);
        common::debugEigenPose(datafields, "targetPose", data.targetPose);
        common::debugEigenVec(datafields, "currentFT", data.currentFT);
        common::debugEigenVec(datafields, "pose_error", data.poseError);
        common::debugEigenVec(datafields, "tempAcc", data.tempAcc);
        common::debugEigenVec(datafields, "virtualVel", data.virtualVel);
        common::debugEigenVec(datafields, "virtualAcc", data.virtualAcc);
        //        ARMARX_INFO << VAROUT(data.obj2TcpInMeterL) << VAROUT(data.obj2TcpInMeterL);
 
        using namespace armarx::control::common::coordination::arondto;
        auto followerIsolation = cfg.followerConnectionMode == ConnectionMode::follower_isolated;
        auto leftAsLeader = cfg.leadershipMode == LeadershipMode::left_as_leader;
        auto rightAsLeader = cfg.leadershipMode == LeadershipMode::right_as_leader;
        auto followerInLeaderLocalFrame =
            cfg.followerFrameMode == common::arondto::PoseFrameMode::leader;
        datafields["followerIsolation"] = new Variant(followerIsolation);
        datafields["leftAsLeader"] = new Variant(leftAsLeader);
        datafields["rightAsLeader"] = new Variant(rightAsLeader);
        datafields["followerInLeaderLocalFrame"] = new Variant(followerInLeaderLocalFrame);
 
        debugObs->setDebugChannel("SyncModeCoordinator", datafields);
 
        /// TODO To viz debug in arviz, commented out when controller is stable
        viz::Layer layer = arviz.layer("coordinator");
        layer.add(viz::Pose("targetPose").pose(data.targetPose).scale(1.0f));
        layer.add(viz::Pose("virtualPose").pose(data.virtualPose).scale(1.5f));
        layer.add(viz::Pose("currentPose").pose(data.currentPose).scale(0.8f));
 
        arviz.commit(layer);
 
        viz::Layer layerFT = arviz.layer("coordinator_ft");
        const auto& objCenter = common::getPos(data.currentPose);
        layerFT.add(viz::Arrow("object_force")
                        .fromTo(objCenter, objCenter + 100.0f * data.currentFT.head<3>())
                        .color(simox::Color::yellow()));
        layerFT.add(viz::Arrow("object_torque")
                        .fromTo(objCenter, objCenter + 100.0f * data.currentFT.tail<3>())
                        .color(simox::Color::green()));
        arviz.commit(layerFT);
 
 
        viz::Layer layerVirtualStatus = arviz.layer("coordinator_virtual_status");
        layerVirtualStatus.add(
            viz::Arrow("object_vel")
                .fromTo(objCenter, objCenter + 1000.0f * data.virtualVel.head<3>())
                .color(simox::Color::blue()));
        layerVirtualStatus.add(
            viz::Arrow("object_pose_error")
                .fromTo(objCenter, objCenter + 1000.0f * data.poseError.head<3>())
                .color(simox::Color::black()));
        arviz.commit(layerVirtualStatus);
        ///
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::calibrateFTSensor(const Ice::Current&)
    {
        for (auto& pair : limb)
        {
            pair.second->rtReady.store(false);
        }
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::useCoordinator(
        const std::string& type,
        const ::armarx::aron::data::dto::DictPtr& dto,
        const Ice::Current& /*unused*/)
    {
        ARMARX_INFO << "Adding coordinator of type " << type;
        /// TODO think about other types of coordinators
        if (!coordinator)
        {
            /// TODO add check if the current controller has all robotNodeSets
            ///  that the coordinator requires. currently, use check below.
            coordinator = std::make_shared<common::coordination::SyncCoordination>(dto);
        }
        else
        {
            coordinator->updateConfig(dto);
        }
 
        for (const auto& nodeset : coordinator->getNodesetList())
        {
            if (limb.find(nodeset) == limb.end())
            {
                coordinatorEnabled.store(false);
                ARMARX_WARNING << "The requested nodeset by coordinator " << nodeset
                               << " does not exist in the current controller, disable coordinator";
                return;
            }
        }
        coordinatorEnabled.store(true);
        // std::map<std::string, Eigen::Matrix4f> initPose;
        // for (const auto& nodeset: coord->getNodesetList())
        // {
        //     auto buff = limb.at(nodeset)->bufferConfigRtToUser.getUpToDateReadBuffer();
        //     initPose[nodeset] = buff.desiredPose;
        //     ARMARX_INFO << "using node set " << nodeset << " with pose " << buff.desiredPose;
        // }
        // coord->reset(initPose);
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::disableCoordinator(const Ice::Current&)
    {
        ARMARX_INFO << "Disabling coordinator ...";
        if (not coordinator)
        {
            ARMARX_WARNING << "Coordinator is not created yet, use `useCoordinator` to create!";
            return;
        }
 
        for (const auto& nodeset : coordinator->getNodesetList())
        {
            auto& arm = limb.at(nodeset);
            auto& cfgRT = arm->bufferConfigRtToUser.getUpToDateReadBuffer();
            arm->bufferConfigUserToNonRt.getWriteBuffer().desiredPose = cfgRT.desiredPose;
            arm->bufferConfigUserToNonRt.commitWrite();
            usleep(2000);
        }
        // usleep(2000);
        coordinatorEnabled.store(false);
        ARMARX_INFO << "Coordinator is disabled!!";
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::limbReInit(ArmPtr& arm)
    {
        VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(arm->kinematicChainName);
        Eigen::Matrix4f currentPose = rns->getTCP()->getPoseInRootFrame();
        auto quat = VirtualRobot::MathTools::eigen4f2quat(currentPose);
        ARMARX_RT_LOGF_INFO("rt preactivate controller with target pose\n\n "
                            "[ %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f ].",
                            currentPose(0, 3),
                            currentPose(1, 3),
                            currentPose(2, 3),
                            quat.w,
                            quat.x,
                            quat.y,
                            quat.z);
 
        if (arm->reInitPreActivate.load())
        {
            arm->rtConfig.desiredNullspaceJointAngles.value() = rns->getJointValuesEigen();
            arm->rtConfig.desiredPose = currentPose;
 
            arm->bufferConfigUserToNonRt.reinitAllBuffers(arm->rtConfig);
            arm->reInitPreActivate.store(false);
        }
        {
            arm->nonRtConfig = arm->rtConfig;
            arm->bufferConfigNonRtToRt.reinitAllBuffers(arm->rtConfig);
            arm->bufferConfigRtToOnPublish.reinitAllBuffers(arm->rtConfig);
            arm->bufferConfigRtToUser.reinitAllBuffers(arm->rtConfig);
        }
        {
            arm->sensorDevices.updateJointValues(arm->rtStatus.jointPosition,
                                                 arm->rtStatus.jointVelocity,
                                                 arm->rtStatus.jointTorque);
            arm->rtStatus.rtPreActivate(currentPose);
 
            arm->rtStatusInNonRT = arm->rtStatus;
            arm->nonRTDeltaT = 0.0;
            arm->nonRTAccumulateTime = 0.0;
            arm->bufferRtStatusToOnPublish.reinitAllBuffers(arm->rtStatus);
            arm->bufferRtStatusToNonRt.reinitAllBuffers(arm->rtStatus);
            arm->bufferRtStatusToUser.reinitAllBuffers(arm->rtStatus);
        }
 
        arm->controller.preactivateInit(rns);
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::rtPreActivateController()
    {
        for (auto& pair : limb)
        {
            ARMARX_RT_LOGF_INFO("rtPreActivateController for %s", pair.first.c_str());
            limbReInit(pair.second);
            userConfig.limbs.at(pair.first) = pair.second->rtConfig;
        }
        if (hands)
        {
            hands->rtPreActivate();
        }
    }
 
    void
    NJointTaskspaceMixedImpedanceVelocityController::rtPostDeactivateController()
    {
        // for (auto& pair : limb)
        // {
        //     pair.second->controller.isInitialized.store(false);
        // }
        //        if (hands)
        //        {
        //            hands->rtPostDeactivate();
        //        }
        coordinatorEnabled.store(false);
    }
 
    /// ----------------------------------- GUI Widget ---------------------------------------------
    WidgetDescription::WidgetPtr
    NJointTaskspaceMixedImpedanceVelocityController::GenerateConfigDescription(
        const VirtualRobot::RobotPtr& robot,
        const std::map<std::string, ConstControlDevicePtr>& controlDevices,
        const std::map<std::string, ConstSensorDevicePtr>&)
    {
        using namespace armarx::WidgetDescription;
        HBoxLayoutPtr layout = new HBoxLayout;
 
 
        ::armarx::WidgetDescription::WidgetSeq widgets;
 
        /// select default config
        LabelPtr label = new Label;
        label->text = "select a controller config";
 
        StringComboBoxPtr cfgBox = new StringComboBox;
        cfgBox->name = "config_box";
        cfgBox->defaultIndex = 0;
        cfgBox->multiSelect = false;
 
        cfgBox->options = std::vector<std::string>{
            "default", "default_right", "default_a7_right", "default_a6_right"};
        ARMARX_TRACE;
 
        layout->children.emplace_back(label);
        layout->children.emplace_back(cfgBox);
        ARMARX_TRACE;
 
        layout->children.insert(layout->children.end(), widgets.begin(), widgets.end());
        ARMARX_INFO_S << "Layout done";
        return layout;
    }
 
    NJointTaskspaceMixedImpedanceVelocityController::ConfigPtrT
    NJointTaskspaceMixedImpedanceVelocityController::GenerateConfigFromVariants(
        const StringVariantBaseMap& values)
    {
        auto cfgName = values.at("config_box")->getString();
        const armarx::PackagePath configPath(
            "armarx_control",
            "controller_config/NJointTaskspaceMixedImpedanceVelocityController/" + cfgName +
                ".json");
        ARMARX_INFO_S << "Loading config from " << configPath.toSystemPath();
        ARMARX_CHECK(std::filesystem::exists(configPath.toSystemPath()));
 
        auto cfgDTO = armarx::readFromJson<ConfigDict>(configPath.toSystemPath());
 
        ARMARX_TRACE;
        return new ConfigurableNJointControllerConfig{cfgDTO.toAronDTO()};
    }
 
} // namespace armarx::control::njoint_controller::task_space