Joint axis mimic constraints: add `sdf` element #1166

adityapande-1995 · 2022-09-20T19:34:17Z

🎉 New feature

Summary

This PR adds a <mimic joint="some_joint" multiplier="1" offset="0"> to joint axes i.e. <axis>, meant to expose a way to mimic some other joint. Part of feature : gazebosim/sdf_tutorials#62, gazebosim/sdf_tutorials#80

Test it

Added test cases to JointAxis_TEST.cc

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>

src/JointAxis.cc

codecov · 2022-09-26T17:57:30Z

Codecov Report

Merging #1166 (aefe58e) into main (a1027c3) will increase coverage by 0.02%.
The diff coverage is 90.36%.

❗ Current head aefe58e differs from pull request most recent head 1e4624c. Consider uploading reports for the commit 1e4624c to get more accurate results

@@            Coverage Diff             @@
##             main    #1166      +/-   ##
==========================================
+ Coverage   87.42%   87.45%   +0.02%     
==========================================
  Files         133      133              
  Lines       17295    17452     +157     
==========================================
+ Hits        15121    15262     +141     
- Misses       2174     2190      +16

Files Changed	Coverage Δ
python/src/sdf/pyJointAxis.cc	`59.22% <55.55%> (-1.98%)`	⬇️
python/src/sdf/_gz_sdformat_pybind11.cc	`100.00% <100.00%> (ø)`
python/src/sdf/pyError.cc	`82.71% <100.00%> (+0.21%)`	⬆️
src/Joint.cc	`91.60% <100.00%> (+0.38%)`	⬆️
src/JointAxis.cc	`99.13% <100.00%> (+0.32%)`	⬆️
src/Root.cc	`95.23% <100.00%> (+0.02%)`	⬆️
src/parser.cc	`87.30% <100.00%> (+0.44%)`	⬆️

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

adityapande-1995 · 2022-09-29T07:32:36Z

Updated PR according to the proposal to include an axis attribute, and changed multiplier and offset to elements rather than attributes.

scpeters

I updated the proposal in gazebosim/sdf_tutorials@829aa86, so I commented on how the specification could be updated to reflect that.

sdf/1.10/joint.sdf

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

scpeters · 2022-10-08T01:09:38Z

I just added a //mimic/reference tag to the proposal in gazebosim/sdf_tutorials@93a8fad

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

adityapande-1995 · 2022-10-14T19:13:41Z

We can have an edge case where a joint tries to mimic itself. The JointAxis sdf element does not have access to the parent Joint element's name (or element pointer), and hence that check cannot be implemented here. I've implemented it here : gazebosim/gz-physics@4dd1b21

scpeters

We can have an edge case where a joint tries to mimic itself. The JointAxis sdf element does not have access to the parent Joint element's name (or element pointer), and hence that check cannot be implemented here. I've implemented it here : gazebosim/gz-physics@4dd1b21

We could also check in Joint.cc just after loading the JointAxis objects if each axis has a mimic and confirm that the mimic's joint name doesn't match its own name. There are more extensive tests that could be done to confirm that it does match the name of an existing joint, but that shouldn't happen in Joint::Load since not all joint will have been loaded yet.

include/sdf/JointAxis.hh

src/JointAxis_TEST.cc

Check that the specified leader axis name is valid and matches an existing JointAxis. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

This is needed to reduce the literal string size in Embedded.cc and fix the windows build. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

include/sdf/Error.hh

include/sdf/JointAxis.hh

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

scpeters · 2023-08-23T20:20:14Z

retargeted to harmonic / main branch

src/Joint.cc

src/JointAxis_TEST.cc

src/parser.cc

sdf/1.11/mimic.sdf

* Initialize variables directly in range-based for loop * Use local axis reference to simplify code * Use FindElement in test and assert result is non nullptr Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Joint::Load already checks for invalid self-mimics. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

comments have been addressed

sdf/1.11/mimic.sdf

adityapande-1995 added 3 commits September 19, 2022 17:35

Added basic tests for mimic tag

f5cea32

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

Changed jointName to joint

27afe5f

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

Added tests for ToElement() method

d140505

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

adityapande-1995 requested review from azeey and scpeters as code owners September 20, 2022 19:34

github-actions bot added the 🌱 garden Ignition Garden label Sep 20, 2022

Linter

50f3020

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

scpeters reviewed Sep 21, 2022

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Merge branch 'sdf13' into aditya/mimic_tag

e3341a6

adityapande-1995 added 3 commits September 27, 2022 01:16

Use FindElement

8e4da21

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

Merge branch 'sdf13' into aditya/mimic_tag

a7f7109

Added axis attribute

26e0b29

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

Merge branch 'sdf13' into aditya/mimic_tag

69f820e

scpeters reviewed Oct 1, 2022

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adityapande-1995 added 2 commits October 6, 2022 13:46

Merge branch 'sdf13' into aditya/mimic_tag

630d736

Axis attribute defaults to 'axis', updated descriptions

cb29c91

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

Added reference tag

423caa9

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

adityapande-1995 mentioned this pull request Oct 12, 2022

Support mimic constraint (dartsim) gazebosim/gz-physics#432

Open

Removed axis attribute

2d771ee

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

adityapande-1995 force-pushed the aditya/mimic_tag branch from d20c23a to 2d771ee Compare October 14, 2022 18:36

Merge branch 'sdf13' into aditya/mimic_tag

933b74e

scpeters reviewed Oct 14, 2022

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Merge branch 'sdf13' into aditya/mimic_tag

1abbda7

Add error checking for //mimic/@axis

77d5e7d

Check that the specified leader axis name is valid and matches an existing JointAxis. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters force-pushed the aditya/mimic_tag branch from 4011c72 to 77d5e7d Compare May 6, 2023 00:46

scpeters added 2 commits May 5, 2023 18:03

Merge branch 'sdf13' into aditya/mimic_tag

5f17d93

Add mimic.sdf to spec to reduce size of joint.sdf

889d45d

This is needed to reduce the literal string size in Embedded.cc and fix the windows build. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

ahcorde previously requested changes May 12, 2023

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scpeters added 3 commits May 25, 2023 13:31

Merge branch 'sdf13' into aditya/mimic_tag

4b3f7b2

pyError: add JOINT_AXIS_MIMIC_INVALID

93122a3

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

Add python bindings for MimicConstraint

7090be2

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

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

scpeters added 3 commits August 23, 2023 12:57

Merge branch 'main' into aditya/mimic_tag

3ae9240

Move mimic tag to 1.11

16f06a0

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

Update migration guide

730413a

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

scpeters changed the title ~~Mimic joints: Add sdf element~~ Joint axis mimic constraints: add sdf element Aug 23, 2023

scpeters changed the base branch from sdf13 to main August 23, 2023 20:19

scpeters added 🎵 harmonic Gazebo Harmonic and removed 🌱 garden Ignition Garden labels Aug 23, 2023

azeey reviewed Aug 24, 2023

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scpeters added 2 commits August 24, 2023 21:54

Review response

7fd569e

* Initialize variables directly in range-based for loop * Use local axis reference to simplify code * Use FindElement in test and assert result is non nullptr Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Remove duplicate error checking from parser.cc

1e4624c

Joint::Load already checks for invalid self-mimics. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters requested a review from ahcorde August 25, 2023 05:55

azeey approved these changes Aug 25, 2023

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scpeters merged commit 92dd776 into main Aug 27, 2023

scpeters deleted the aditya/mimic_tag branch August 27, 2023 05:09

scpeters mentioned this pull request Aug 28, 2023

Mimic constraint feature using bullet-featherstone gazebosim/gz-physics#517

Merged

9 tasks

scpeters mentioned this pull request Oct 3, 2023

URDF parser: use SDFormat 1.11, parse joint mimic #1333

Merged

9 tasks

This was referenced Dec 15, 2023

[parsing] Add parsing of custom drake:mimic tag for SDFormat RobotLocomotion/drake#20503

Merged

Coupler constraints should be parsed from official SDFormat 1.11 mimic tags RobotLocomotion/drake#20704

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Joint axis mimic constraints: add `sdf` element #1166

Joint axis mimic constraints: add `sdf` element #1166

adityapande-1995 commented Sep 20, 2022 •

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scpeters commented Aug 23, 2023

Joint axis mimic constraints: add sdf element #1166

Joint axis mimic constraints: add sdf element #1166

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adityapande-1995 commented Sep 20, 2022 • edited Loading

🎉 New feature

Summary

Test it

Checklist

codecov bot commented Sep 26, 2022 • edited Loading

Codecov Report

adityapande-1995 commented Sep 29, 2022

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scpeters commented Aug 23, 2023

Joint axis mimic constraints: add `sdf` element #1166

Joint axis mimic constraints: add `sdf` element #1166

adityapande-1995 commented Sep 20, 2022 •

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