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Extend Support for Mimic Joint#2441

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MegMll wants to merge 166 commits intostack-of-tasks:develstack-of-tasks/pinocchio:develfrom MegMll:topic/mimicMegMll/pinocchio:topic/mimicCopy head branch name to clipboard

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Commits

Commits on Dec 11, 2024

• Add Urdf support for mimic joint (revolute and prismatic)

  

  Megane Millan

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  5434dea

• Sample Model : Now support a mimic joint at the end if wanted

  

  Megane Millan

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  1f3d678

• [Joints] Added support for nj and idx_j

  

  Megane Millan

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  c75857e

• [Joint] Mimic joint is now based on the variant and not templated

  

  Megane Millan

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  add81ce

• [Model] Support for nj and idx_j

  

  Megane Millan

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  c4b6962

• [Data] Jacobian is now indexed on nj

  

  Megane Millan

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  3e04887

• [LieGroup] Neutral Specialization for mimic joints

  

  Megane Millan

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  30a7c17

• [Serialization] Fix serialization

  

  Megane Millan

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  e35415e

• [Unittest] Fix unittest

  

  Megane Millan

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  c30ec70

• [unittest] Fix for mimic

  

  Megane Millan

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  a737c6e

• [Python] Add bindings

  

  Megane Millan

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  3794077

• [Urdf] Add possibility to use mimic or not

  

  Megane Millan

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  83598c9

• [Serialization] Fix Test and serialization

  

  Megane Millan

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  9f0191d

• [Mimic] Joint Tpl instead of JointBase

  

  Megane Millan

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  ed5650b

• [Broken test] copy visitor from variant to variant

  

  Megane Millan

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  a0bcd85

• Add mimic to shortcuts

  

  Megane Millan

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  9501a72

• wip

  

  Megane Millan

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  affef7e

• Copy constructor instead of =

  

  Megane Millan

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  ff96d5c

• [EtienneAr feedback] Add mimic constructor for different primay/secondary joint types

  

  Megane Millan

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  a810252

• [EtienneAr feedback] Move transferVariant to joint-basic-visitors and document it

  

  Megane Millan

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  f39c03a

• [EtienneAr feedback] PoC: fix appendModel

  

  Megane Millan

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  7e0c090

• [EtienneAr feedback] Fix sample model for mimic in manipulator

  

  Megane Millan

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  72d7c8e

• [EtienneAr feedback] Joint Mimic jointConfigSelector_impl follows conventions en return a 0 length vector (and apply pre-commit formatting)

  

  Megane Millan

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  424fd52

• [EtienneAr feedback] Fix appendToModel when mimic joint in model

  

  Megane Millan

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  366f21f

• [EtienneAr feedback] Apply pre-commit

  

  Megane Millan

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  e9de47f

• [EtienneAr feedback] Turn on mimic joint in model, reachable-workspace, sample-models unittest

  

  Megane Millan

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  3c630f5

• [EtienneAr feedback] Split jointCols jointRows and jointBLock for full and reduced system

  

  Megane Millan

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  2176a5f

• [URDF] Modified the way mimic joint are added (still broken for romeo....)

  

  Megane Millan

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  bce84b1

• [urdf] Fix parsing of mimic joints

  

  Megane Millan

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  3d293cf

• [Example] Fix to include mimic

  

  Megane Millan

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  0496323

• [robot_wrapper] Fix to include mimic

  

  Megane Millan

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  ef08565

• Merge branch

  

  Megane Millan

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  f46fea1

• [RNEA] Modify to take mimic into account

  

  Megane Millan

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  33c7fa3

• [Mimic] Modify to be able to mimic from base to Tpl

  

  Megane Millan

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  f353cab

• [SampleModel] Test to compare a mimic and non mimic model

  

  Megane Millan

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  39a6918

• [Data] Check on mimic is disable for now

  

  Megane Millan

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  e8df4c4

• Working test

  

  Megane Millan

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  f31ac29

• [EtienneAr feedback] Fix RNEA: initialize tau to zero before summing

  

  Megane Millan

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  cf82408

• [EtienneAr feedback] Fix crba for mimic joints

  

  Megane Millan

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  9db26de

• [EtienneAr feedback] Test crba before rnea for mimic joints

  

  Megane Millan

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  76a0969

• [EtienneAr feedback] Port crba fix to algorithm with other convention

  

  Megane Millan

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  218d155

• [EtienneAr feedback] Port crba fix to rnea, compute-all-terms and constrained-dynamics

  

  Megane Millan

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  0c96e2a

• [EtienneAr feedback] Revert useless change on Fcrb in crna.hxx

  

  Megane Millan

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  339d822

• [EtienneAr feedback] Make M matrix symetric in test

  

  Megane Millan

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  24e857d

• [EtienneAr feedback] Properly use data.nle instead of rnea

  

  Megane Millan

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  3526191

• [EtienneAr feedback] Fix crba for mimic joints

  

  Megane Millan

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  3f9c3f2

• [EtienneAr feedback] Fix RNEA after chage for mimic joints

  

  Megane Millan

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  16c7c96

• [example] Change buildModelUrdf - added mimic bool

  

  Megane Millan

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  9a46d13

• [mimic-joint] Added support for FreeFlyer

  

  Megane Millan

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  b087e76

• [unittest] Added bool mimic to build urdf

  

  Megane Millan

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  c62da7a

• [Joint] Split Joint ConfigSelector in two functions

  

  Megane Millan

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  ad639d4

• Apply pre-commit

  

  Megane Millan

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  6ab6049

• Split JointVelocitySelector in two functions

  

  Megane Millan

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  2fe8b5a

• Apply pre-commit

  

  Megane Millan

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  167c23f

• [EtienneAr feedback] Add more test for joint mimic in non trivial cases

  

  Megane Millan

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  185ff55

• [EtienneAr feedback] Fix scaling and offset in mimic joint calc

  

  Megane Millan

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  f670aa0

• [EtienneAr feedback] WiP: Fix ConfigVectorAffineTransform template specialization

  

  Megane Millan

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  eba619a

• [EtienneAr feedback] Make visitor for config vector affine transform

  

  Megane Millan

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  d75eedc

• [EtienneAr feedback] Move configVectorAffineTransform code to joint-basic-visitor

  

  Megane Millan

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  a4023a9

• [EtienneAr feedback] Add more test cases for config vector affine transforms

  

  Megane Millan

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  1dc3138

• [EtienneAr feedback] Test affine transform for identity and non identity cases

  

  Megane Millan

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  c1aa0ca

• [EtienneAr feedback] Cleaner floating point comparison for NoAffineTransform assert

  

  Megane Millan

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  b176c5e

• [EtienneAr feedback] keep original q and v in JointDataMimic

  

  Megane Millan

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  0b3d70a

• [EtienneAr feedback] [Mimic] Set indexes of ref joint to 0

  

  Megane Millan

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  75ec986

• [EtienneAr feedback] Fix mimic test for slightly new convention of ref joint idx_q, idx_v set to 0

  

  Megane Millan

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  78da384

• [EtienneAr feedback] Fix serialization for mimic joint with setIndexes

  

  Megane Millan

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  3a51078

• [bindings] Added mimic to context

  

  Megane Millan

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  0c4c36b

• [parser] remove std::cout

  

  Megane Millan

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  a3c9622

• [bindings] BROKEN - Added specialization for mimic joint in bindings

  

  Megane Millan

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  f7b0fa3

• [python] Added jointModelMimicable to context

  

  Megane Millan

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  efea7f8

• [bindings] Fix mimic specialization for constructor

  

  Megane Millan

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  745b0a7

• [context] Added mimicable joint

  

  Megane Millan

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  e508e4c

• [bindings] Finished specialization for mimic

  

  Megane Millan

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  be5ac35

• {Joints@ Added mimicable trait

  

  Megane Millan

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  f789dd6

• [Visitor] Change TransferVariant visitor into checkMimic visitor

  

  Megane Millan

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  4d70402

• [Joint] Remove mimicable joint collection

  

  Megane Millan

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  59c610f

• [Joint] Use check mimic for jointMimic constructor

  

  Megane Millan

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  263f807

• [bindings] Make bindings conform to new jointMimic

  

  Megane Millan

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  adaa1ff

• [EtienneAr feedback] Make random humanoid with mimic joint

  

  Megane Millan

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  9b81b89

• [EtienneAr feedback] Fix size in jointBlock

  

  Megane Millan

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  30948c3

• [EtienneAr feedback] Fix mimic serialization for joint_q joint_v

  

  Megane Millan

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  d5cf0a3

• [EtienneAr feedback] Remove problematic testcase for mimic in python

  

  Megane Millan

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  c5854f1

• [EtienneAr feedback] Add slightly more test on sample models for mimic

  

  Megane Millan

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  ce7c2d3

• [EtienneAr feedback] Fix rebase conflict

  

  Megane Millan

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  68bc0c4

• [EtienneAr feedback] Activate mimic for joint-jacobian test

  

  Megane Millan

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  0697623

• [EtienneAr feedback] Fix some size for mimic col/row selection

  

  Megane Millan

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  251ec2b

• [EtienneAr feedback] Fix joint jacobians computation for mimic

  

  Megane Millan

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  54c4af2

• [EtienneAr feedback] WiP fix crba malloc

  

  Megane Millan

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  c797831

• [EtienneAr feedback] Remove temporary variables before return for joint mimic

  

  Megane Millan

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  4ee2ecf

• [EtienneAr feedback] Add stack allocation feature for JointMotionSubspaceTpl class and remove dedicated class

  

  Megane Millan

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  28335c6

• [CRBA] Update computation of Ag

  

  Megane Millan

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  d8efd15

• [EtienneAr feedback] Small serialization fix after changes in JoitMotionSubspaceTpl

  

  Megane Millan

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  4085795

• [EtienneAr feedback] Fix on Jcom for mimic

  

  Megane Millan

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  b0e3955

• [EtienneAr feedback] Fix corriolis computation for mimic leading

  

  Megane Millan

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  653a9cb

• [EtienneAr feedback] Enable mimic in rnea tests

  

  Megane Millan

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  e386113

• [EtienneAr feedback] Define MaxDim in ScaledJointMotionSubspace and fix mimic test with it

  

  Megane Millan

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  d1aa428

• [EtienneAr feedback] Add dedicated mimic test for crba

  

  Megane Millan

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  5ddbb7c

• [EtienneAr feedback] Template ScaledMotionSubspace on MaxDim

  

  Megane Millan

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  1a42e72

• [EtienneAr feedback] Add getRelativePlacement method for kinematics

  

  Megane Millan

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  0f1a75b

• [EtienneAr feedback] add patch to crba for mimic joints

  

  Megane Millan

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  4f94494

• [EtienneAr feedback] Update comment and remove hardcoded max size for crba patch

  

  Megane Millan

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  8e34295

• [EtienneAr feedback] Make random humanoid with mimic joint

  

  Megane Millan

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  eadd005

• [algorithm/model] Added a function to transform a joint into a mimic

  

  Megane Millan

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  d180773

• [unittest/model] Added test for transformIntoJointMimic

  

  Megane Millan

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  43f9959

• Apply pre-commit

  

  Megane Millan

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  0263aca

• Fix rebase

  

  Megane Millan

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  8f9e6b3

• [Algorithm/model] Remove useless if

  

  Megane Millan

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  d9af1ba

• [EtienneAr feedback] Fix crba in local convention to prevent heap allocation

  

  Megane Millan

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  df1c2f9

• [EtienneAr feedback] Add assert for crba in world convention with mimic joints

  

  Megane Millan

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  1093017

• [EtienneAr feedback] More exhaustive testing of crba for mimic

  

  Megane Millan

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  47e5482

• [EtienneAr feedback] Remove useless override of joint{Config,Velocity}From{Nv,Dof}Selector_impl and patch base FromDof ones

  

  Megane Millan

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  97cb065

• [EtienneAr feedback] Fix selectConfigFromDof for JointModelTpl in the case of a mimic by using a visitor

  

  Megane Millan

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  86dcb6b

• [EtienneAr feedback] Fix ConfigSelectorFromDof visitor

  

  Megane Millan

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  fef5932

• [EtienneAr feedback] Fix CRBA test for mimic, and remove mimic in world convention test

  

  Megane Millan

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  813798f

• [EtienneAr feedback] Fix G matric for mimic crba test

  

  Megane Millan

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  a4ac37c

• [EtienneAr feedback] Patch warnings in mimic crba test

  

  Megane Millan

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  33282e5

• [Algorithm/crba] Fix world convention for mimic joints

  

  Megane Millan

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  dd83d3f

• fix not working for all cases (spaced and parallel)

  

  Megane Millan

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  2ce8335

• [algo/crba] Fix for crba world (works for spaced and parallel)

  

  Megane Millan

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  7c42901

• Fix crba world (small issue with parallel joint at the root where the two subtree meet)

  

  Megane Millan

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  6491e4a

• Fix for world convention

  

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  df5949b

• Make centroidal algorithm compatible with mimic and add tests

  

  Megane Millan

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  121a201

• Add mimic tests to rnea

  

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  80e9f40

• Add security

  

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  c95789b

• [EtienneAr feedback] Fix getRelativePlacement and add unit test

  

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  35c26d7

• Add security

  

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  cffacd8

• [EtienneAr feedback] Fix ForceOperator for generic motion subspace and mimic and prevent any malloc

  

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  aec853a

• [EtienneAr feedback] Patch previous fix on ForceOperator for motion subspace tpl

  

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  303a1bc

• Fix some errrors for com computation

  

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  3681413

• [Rnea] Patch Algorithms for mimic

  

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  e524e42

• remove mimic joints from test

  

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  9d82361

• [unittest/rnea] Add more test

  

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  9f2a1e3

• Fix tests and remove modification for Coriolis Matrix

  

  Megane Millan

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  ec4db7c

• [rnea] Remove useless setZero

  

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  f099ac7

• [Urdf] Rebase on new pinocchio release

  

  Megane Millan

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  4f8db67

• Add assert to non supported algorithms

  

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  e7d28cd

• [algo/crba] Fix local convention for crba

  

  Megane Millan

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  3481963

• [EtienneAr feedback] Comment local fix for crba and don't use getRelativePlacement to remove redundant computations

  

  Megane Millan

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  39a7590

• [EtienneAr feedback] Add comments to world fix for crba and factorize code to prevent duplication

  

  Megane Millan

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  18309be

• Update examples

  

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  14060fd

• [EtienneAr Feedback] Fix LOCAL enum ambiguity in getRelativePlacement

  

  Megane Millan

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  741d1a1

• [EtienneAr Feedback]Fix Scalar / int confusion for model index

  

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  b05103e

• [EtienneAr Feedback] Fix explicit ConfigVectorAffineTransformVisitor template parameters

  

  Megane Millan

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  fd54278

• [EtienneAr Feedback] Fix Scalar / int confusion for joint mimic index

  

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  4706838

• [bindings/urdf] Rebasing

  

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  6d3fb86

• Make code compile with CppAd

  

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  dfe746f

• [algo/crba] remove double function

  

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  d18fea3

• [unittest/kinematics] Cast to avoid errors

  

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  13fdd10

• [multibody/geometry] Force scalar to be double

  

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  ea9fdea

• [multibody/op] Only do comparison when scalar=double

  

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  c9fc664

• Remove compilation warnings

  

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  ef22674

• Fix crba and some tests for casadi

  

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  cc6dc3e

• [EtienneAr Feedback] Fix Scalar forced to double for GeometryObjects

  

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  ac94d1c

• [EtienneAr Feedback] Fix casadi test for joint mimic

  

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  237b26e

• [serialization] Fix template errors

  

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  4cf3bf7

• Fix examples

  

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  a0dc57b

• Fix Serialization

  

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  a87b80d

• Fix examples

  

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  86822ee

• [test/rnea] Try fix for windows

  

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  26ee516

• [EtienneAr Feedback] Swap import order

  

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  ccb5ade

• [EtienneAr Feedback] Fix PINOCCHIO_EXPLICIT_INSTANTIATION DECLARATION to DEFINITION for transformJointIntoMimic

  

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  1219043

• [EtienneAr Feedback] Update changelog

  

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  0406098

• [EtienneAr Feedback] Add explicit to single argument constructors

  

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  765059d

• Applied pre-commit

  

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  7b9a81b

• Fix init problem

  

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  df43e4a

• [algo/jacobian] Fix rebasing

  

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  bd466b3