Mimic constraint feature #431

adityapande-1995 · 2022-09-30T21:38:29Z

🎉 New feature

Summary

This PR adds a SetMimicConstraint(std::string joint_name, double multiplier, double offset ) feature to joints, and is currently implemented when using dartsim.

Test it

Added a bunch of test cases to joint_features.cc, between different joint combinations and offsets, multipliers.

Pendulum test :

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Aditya <aditya050995@gmail.com>

include/gz/physics/Joint.hh

test/common_test/joint_features.cc

Signed-off-by: Aditya <aditya050995@gmail.com>

codecov · 2022-10-04T02:14:39Z

Codecov Report

Merging #431 (df5fd98) into gz-physics6 (871bab7) will increase coverage by 0.06%.
The diff coverage is 50.00%.

@@               Coverage Diff               @@
##           gz-physics6     #431      +/-   ##
===============================================
+ Coverage        76.18%   76.24%   +0.06%     
===============================================
  Files              142      142              
  Lines             7251     7279      +28     
===============================================
+ Hits              5524     5550      +26     
- Misses            1727     1729       +2

Files Changed	Coverage Δ
dartsim/src/JointFeatures.cc	`58.95% <41.66%> (-1.39%)`	⬇️
include/gz/physics/detail/Joint.hh	`77.46% <100.00%> (+1.34%)`	⬆️

... and 1 file with indirect coverage changes

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 · 2022-10-04T23:34:07Z

TODO Checklist

Checklist for tests (parent - child joint) :

revolute revolute
prismatic - prismatic
universal - universal
revolute - prismatic
prismatic - revolute
Test to check if energy/momentum is conserved
Raise a ticket to DART upstream to allow specification of axis name when mimicking joints. Mimicking between universal and revolute joints leads to weird behaviour. DART insists that both joints should have the same DOFs : https://github.com/dartsim/dart/blob/189e24d5624f3007fe13d2c27bbdb9a83ed135ec/dart/constraint/MimicMotorConstraint.cpp#L67

Constructing using sdf - will be done in gz-sim now:

Add to ConstructSdfJoint
Integration tests
Visual demo world

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 · 2022-11-15T22:07:05Z

Based on an offline discussion with @azeey , applying to mimic constraint using the sdf tags would be done in the Physics system inside gz-sim, and not in gz-physics.

Signed-off-by: Aditya <aditya050995@gmail.com>

scpeters · 2023-05-10T03:31:39Z

include/gz/physics/Joint.hh

+        public: using Scalar = typename PolicyT::Scalar;
+
+        public: void SetMimicConstraint(
+                    const std::string _mimicJoint,


let's add the axis name string here to match the SDFormat API

Done 6a0294b

scpeters · 2023-05-10T03:32:19Z

include/gz/physics/Joint.hh

+    {
+      /// \brief The Joint API for setting the mimic joint constraint.
+      /// \param[in] _mimicJoint
+      ///   name of the joint to be mimicked, i.e. the parent joint.


use Mimic constraint instead of joint and follower / leader terminology

Done 0b4f490

scpeters · 2023-05-10T05:03:29Z

pinging @azeey for an opinion: should we add support for the Mimic constraints to the ConstructSdfModelImpl function in dartsim/src/SDFFeatures.cc? I think it could be added after the loop that constructs all the joints

…straint() Signed-off-by: Aditya Pande <adityapande@google.com>

Signed-off-by: Aditya Pande <adityapande@google.com>

scpeters · 2023-07-11T00:08:10Z

include/gz/physics/Joint.hh

+      {
+        public: using Scalar = typename PolicyT::Scalar;
+
+        public: void SetMimicConstraint(


we should add a std::size_t _dof argument (similar to the GetBasicJointState APIs) to specify the follower joint axis

scpeters · 2023-07-11T00:08:26Z

include/gz/physics/Joint.hh

+      /// \param[in] _joint
+      ///   name of the joint to be mimicked, i.e. the leader joint.
+      /// \param[in] _multiplier
+      ///   The multiplier to be applied to poistion of leader joint.


Suggested change

/// The multiplier to be applied to poistion of leader joint.

/// The multiplier to be applied to position of leader joint.

scpeters · 2023-07-11T00:21:11Z

test/common_test/joint_mimic_features.cc

+
+    // Testing with different (multiplier, offset, reference) combinations.
+    testMimicFcn(1, 0, 0);
+    testMimicFcn(-1, 0, 0);


calling testMimicFcn sequentially results in multiple calls to SetMimicConstraint for a given joint, which appears to work with the dartsim implementation in this PR, but it causes issues with the bullet-featherstone implementation in #517 that adds a new constraint for each call to SetMimicConstraint. Probably I need to update #517 to clear any existing mimic constraints when SetMimicConstraint is called. We should document in the Joint.hh header what the expected behavior is for multiple subsequent calls

I've updated #517 to clear existing mimic constraints. I made some adjustments to the test expectations, but I've resolved the concern in this comment

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters · 2023-07-13T20:46:51Z

include/gz/physics/Joint.hh

+        public: void SetMimicConstraint(
+                    const std::size_t _dof,
+                    const std::string _joint,
+                    const std::string _axis,


use const references for _joint and _axis

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters · 2023-07-17T22:27:13Z

I've retargeted #517 directly at gz-physics6 and redacted the dartsim implementation from that branch (which is built on this one). I suggest that we close this PR but keep the branch for reference, until dartsim/dart#1756 is addressed upstream

scpeters · 2023-08-31T16:00:22Z

closing until dartsim/dart#1756 is addressed

adityapande-1995 added 5 commits September 29, 2022 14:57

Skeletal code for SetMimicJointFeature

5080bed

Signed-off-by: Aditya <aditya050995@gmail.com>

Added implementation, test to be written

6584c4c

Signed-off-by: Aditya <aditya050995@gmail.com>

Skeletal test case

0cf04bd

Signed-off-by: Aditya <aditya050995@gmail.com>

Added world file

e862d37

Signed-off-by: Aditya <aditya050995@gmail.com>

Added basic test

89baee9

Signed-off-by: Aditya <aditya050995@gmail.com>

github-actions bot added the 🌱 garden Ignition Garden label Sep 30, 2022

Linter fix

845c076

Signed-off-by: Aditya <aditya050995@gmail.com>

ahcorde reviewed Oct 3, 2022

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Fix tests

ab64ba4

Signed-off-by: Aditya <aditya050995@gmail.com>

Delete unnecessary spaces

efe14ff

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 mentioned this pull request Oct 4, 2022

Support mimic constraint (dartsim) #432

Open

adityapande-1995 added 2 commits October 4, 2022 16:31

Added test for prismatic joint

44848b7

Signed-off-by: Aditya <aditya050995@gmail.com>

Prismatic world

1bb3239

Signed-off-by: Aditya <aditya050995@gmail.com>

Added test for universal joint

5f53cb7

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 added 6 commits October 11, 2022 11:14

Merge branch 'gz-physics6' into aditya/mimic_constraint

4ce9d72

Added tests between different joint types

1317a6d

Signed-off-by: Aditya <aditya050995@gmail.com>

Added reference to offset

943740c

Signed-off-by: Aditya <aditya050995@gmail.com>

Linter

87e8de3

Signed-off-by: Aditya <aditya050995@gmail.com>

Added checks for DOFs and joint name

4dd1b21

Signed-off-by: Aditya <aditya050995@gmail.com>

Merge branch 'gz-physics6' into aditya/mimic_constraint

3e123fb

Added a test to check vioaltion of consv of energy

4f19f38

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 marked this pull request as ready for review November 16, 2022 22:03

adityapande-1995 requested review from azeey, mxgrey and scpeters as code owners November 16, 2022 22:03

adityapande-1995 requested review from scpeters and removed request for scpeters November 16, 2022 22:03

adityapande-1995 mentioned this pull request Nov 17, 2022

Feature request : Supply axis index when specifying mimic joint. dartsim/dart#1684

Open

adityapande-1995 and others added 4 commits November 30, 2022 13:02

Merge branch 'gz-physics6' into aditya/mimic_constraint

e6b6b6e

Merge branch 'gz-physics6' into aditya/mimic_constraint

c845bfb

Merge branch 'gz-physics6' into aditya/mimic_constraint

1a3d345

Merge branch 'gz-physics6' into aditya/mimic_constraint

1fbeed2

scpeters force-pushed the aditya/mimic_constraint branch from 17a078c to 1fbeed2 Compare May 1, 2023 19:02

scpeters mentioned this pull request May 4, 2023

Proposal for Mimic Constraint Feature gazebosim/sdf_tutorials#62

Merged

4 tasks

Merge branch 'gz-physics6' into aditya/mimic_constraint

5d3ec50

scpeters reviewed May 10, 2023

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adityapande-1995 added 2 commits May 10, 2023 20:34

Change parent/child to leader/follower, added axis arg to SetMimicCon…

6a0294b

…straint() Signed-off-by: Aditya Pande <adityapande@google.com>

Changed mimicJoint to joint, minor typo correction

0b4f490

Signed-off-by: Aditya Pande <adityapande@google.com>

scpeters mentioned this pull request Jun 22, 2023

Add Coupler Constraint (similar to a gearbox constaint from Gazebo) dartsim/dart#1756

Open

scpeters mentioned this pull request Jul 7, 2023

Mimic constraint feature using bullet-featherstone #517

Merged

9 tasks

scpeters reviewed Jul 11, 2023

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adityapande-1995 and others added 3 commits July 10, 2023 18:05

Merge branch 'gz-physics6' into aditya/mimic_constraint

484abc4

Fix spelling

6878701

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

SetJointMimicConstraint: add dof argument

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Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters reviewed Jul 13, 2023

View reviewed changes

Use const ref

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Signed-off-by: Steve Peters <scpeters@openrobotics.org>

azeey added the beta Targeting beta release of upcoming collection label Jul 31, 2023

Merge branch 'gz-physics6' into aditya/mimic_constraint

df5fd98

azeey removed the beta Targeting beta release of upcoming collection label Aug 23, 2023

scpeters closed this Aug 31, 2023

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Mimic constraint feature #431

Mimic constraint feature #431

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scpeters commented Aug 31, 2023

	/// The multiplier to be applied to poistion of leader joint.
	/// The multiplier to be applied to position of leader joint.

Mimic constraint feature #431

Mimic constraint feature #431

Conversation

adityapande-1995 commented Sep 30, 2022 • edited Loading

🎉 New feature

Summary

Test it

Checklist

codecov bot commented Oct 4, 2022 • edited Loading

Codecov Report

adityapande-1995 commented Oct 4, 2022 • edited Loading

TODO Checklist

adityapande-1995 commented Nov 15, 2022

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scpeters commented Jul 17, 2023

scpeters commented Aug 31, 2023

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