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Extend Support for Mimic Joint#2441

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Commits on Jan 15, 2025

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

  

  Megane Millan

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

  

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• [Joints] Added support for nj and idx_j

  

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

  

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• [Model] Support for nj and idx_j

  

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• [Data] Jacobian is now indexed on nj

  

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• [LieGroup] Neutral Specialization for mimic joints

  

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• [Serialization] Fix serialization

  

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• [Unittest] Fix unittest

  

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• [unittest] Fix for mimic

  

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• [Python] Add bindings

  

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• [Urdf] Add possibility to use mimic or not

  

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• [Serialization] Fix Test and serialization

  

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• [Mimic] Joint Tpl instead of JointBase

  

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• [Broken test] copy visitor from variant to variant

  

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• Add mimic to shortcuts

  

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• wip

  

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• Copy constructor instead of =

  

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

  

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

  

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• [EtienneAr feedback] PoC: fix appendModel

  

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

  

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

  

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

  

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• [EtienneAr feedback] Apply pre-commit

  

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

  

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

  

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

  

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• [urdf] Fix parsing of mimic joints

  

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• [Example] Fix to include mimic

  

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• [robot_wrapper] Fix to include mimic

  

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• Merge branch

  

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• [RNEA] Modify to take mimic into account

  

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

  

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

  

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• [Data] Check on mimic is disable for now

  

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• Working test

  

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

  

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• [EtienneAr feedback] Fix crba for mimic joints

  

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

  

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

  

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

  

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

  

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• [EtienneAr feedback] Make M matrix symetric in test

  

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

  

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• [EtienneAr feedback] Fix crba for mimic joints

  

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

  

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• [example] Change buildModelUrdf - added mimic bool

  

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• [mimic-joint] Added support for FreeFlyer

  

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• [unittest] Added bool mimic to build urdf

  

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• [Joint] Split Joint ConfigSelector in two functions

  

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• Apply pre-commit

  

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• Split JointVelocitySelector in two functions

  

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• Apply pre-commit

  

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

  

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

  

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• [EtienneAr feedback] WiP: Fix ConfigVectorAffineTransform template specialization

  

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

  

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

  

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

  

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

  

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

  

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

  

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

  

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

  

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

  

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• [bindings] Added mimic to context

  

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• [parser] remove std::cout

  

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

  

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• [python] Added jointModelMimicable to context

  

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• [bindings] Fix mimic specialization for constructor

  

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• [context] Added mimicable joint

  

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• [bindings] Finished specialization for mimic

  

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• {Joints@ Added mimicable trait

  

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• [Visitor] Change TransferVariant visitor into checkMimic visitor

  

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• [Joint] Remove mimicable joint collection

  

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• [Joint] Use check mimic for jointMimic constructor

  

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• [bindings] Make bindings conform to new jointMimic

  

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• [EtienneAr feedback] Make random humanoid with mimic joint

  

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• [EtienneAr feedback] Fix size in jointBlock

  

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• [EtienneAr feedback] Fix mimic serialization for joint_q joint_v

  

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

  

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

  

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• [EtienneAr feedback] Fix rebase conflict

  

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

  

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

  

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• [EtienneAr feedback] Fix joint jacobians computation for mimic

  

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• [EtienneAr feedback] WiP fix crba malloc

  

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

  

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

  

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• [CRBA] Update computation of Ag

  

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

  

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• [EtienneAr feedback] Fix on Jcom for mimic

  

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• [EtienneAr feedback] Fix corriolis computation for mimic leading

  

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• [EtienneAr feedback] Enable mimic in rnea tests

  

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

  

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• [EtienneAr feedback] Add dedicated mimic test for crba

  

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• [EtienneAr feedback] Template ScaledMotionSubspace on MaxDim

  

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• [EtienneAr feedback] Add getRelativePlacement method for kinematics

  

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

  

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

  

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• [EtienneAr feedback] Make random humanoid with mimic joint

  

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

  

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• [unittest/model] Added test for transformIntoJointMimic

  

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• Apply pre-commit

  

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• Fix rebase

  

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• [Algorithm/model] Remove useless if

  

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

  

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

  

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

  

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

  

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

  

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• [EtienneAr feedback] Fix ConfigSelectorFromDof visitor

  

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

  

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

  

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• [EtienneAr feedback] Patch warnings in mimic crba test

  

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

  

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

  

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

  

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

  

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• Fix for world convention

  

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• Make centroidal algorithm compatible with mimic and add tests

  

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• Add mimic tests to rnea

  

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• Add security

  

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• [EtienneAr feedback] Fix getRelativePlacement and add unit test

  

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• Add security

  

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

  

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

  

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• Fix some errrors for com computation

  

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• [Rnea] Patch Algorithms for mimic

  

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• remove mimic joints from test

  

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• [unittest/rnea] Add more test

  

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• Fix tests and remove modification for Coriolis Matrix

  

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• [rnea] Remove useless setZero

  

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• [Urdf] Rebase on new pinocchio release

  

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• Add assert to non supported algorithms

  

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• [algo/crba] Fix local convention for crba

  

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

  

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

  

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• Update examples

  

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• [EtienneAr Feedback] Fix LOCAL enum ambiguity in getRelativePlacement

  

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

  

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• [EtienneAr Feedback] Fix explicit ConfigVectorAffineTransformVisitor template parameters

  

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

  

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• [bindings/urdf] Rebasing

  

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• Make code compile with CppAd

  

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• [algo/crba] remove double function

  

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• [unittest/kinematics] Cast to avoid errors

  

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• [multibody/geometry] Force scalar to be double

  

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

  

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• Remove compilation warnings

  

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• Fix crba and some tests for casadi

  

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

  

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• [EtienneAr Feedback] Fix casadi test for joint mimic

  

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• [serialization] Fix template errors

  

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• Fix examples

  

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• Fix Serialization

  

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• Fix examples

  

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• [test/rnea] Try fix for windows

  

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• [EtienneAr Feedback] Swap import order

  

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

  

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• [EtienneAr Feedback] Update changelog

  

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• [EtienneAr Feedback] Add explicit to single argument constructors

  

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• [algo/jacobian] Fix rebasing

  

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• python: Fix linting

  

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• [kinematics] Add documentation to getRelativePlacement

  

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• [algo/model] Change error message to be more precise

  

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• [algo/model] Remove casting

  

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• [algo/model] Simplify function

  

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• [algo/jacobian] Remove useless line

  

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• [algo/kinematics] Access directly variables

  

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• [algo/kinematics] Remove inline

  

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• [algo/crba] access variables directly

  

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• [algo/crba] Remove inline

  

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• Change naming convention

  

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• Added assert for non supported algorithms and apply precommit

  

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• [EtienneAr feedback] Fix -Wreorder for urdf parsing of mimic joints / and mimiced -> mimicked for naming consistency

  

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• [EtienneAr feedback] Simplify getRelativePlacement by doing two backward passes

  

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• [EtienneAr feedback] Remove unused scaling in JointDataMimic

  

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• [algorithms] Use throw instead of assert

  

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• [parser/urdf] Correct urdf parser

  

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• Renaming nj and idx_j into nvExtended and idx_vExtended to be conform to the new convention

  

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• [EtienneAr feedback] Revert all changes in unsupported algorithms

  

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