Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Ensure consistent link forces and fix static joint friction #162

Merged
merged 4 commits into from
Jun 4, 2024
Merged

Ensure consistent link forces and fix static joint friction #162

merged 4 commits into from
Jun 4, 2024

Conversation

flferretti
Copy link
Collaborator

@flferretti flferretti commented May 28, 2024 •
edited
Loading

This pull request includes several changes to ensure consistent link forces and fix the base acceleration transform in the code. The changes include:

  • Ensuring that link forces are in VelRepr.Inertial when passed to forward dynamics
  • Fixing the base acceleration transform in VelRepr.Mixed in ABA
  • Using joint velocities sign for static joint friction
  • Adding a test to verify that linear forces are applied correctly

C.C. @xela-95

@flferretti flferretti force-pushed the fix/representations branch 5 times, most recently from 8cd1277 to b38af4d Compare June 4, 2024 13:54
flferretti and others added 4 commits June 4, 2024 15:55
@flferretti @xela-95
Ensure that link forces are in VelRepr.Inertial
872febe 
When passed to forward dynamics

Co-authored-by: Alessandro Croci <alessandro.croci@iit.it>
@flferretti @xela-95
Use joint velocities sign for static joint friction
51ed0cb 
Co-authored-by: Alessandro Croci <alessandro.croci@iit.it>
@flferretti
Add test to verify that forces are applied correctly
31766ba
@flferretti @xela-95
Make is_force kwarg-only and remove default value
6a7effb 
Co-authored-by: Alessandro Croci <alessandro.croci@iit.it>
@flferretti flferretti force-pushed the fix/representations branch from b38af4d to 6a7effb Compare June 4, 2024 13:55
@flferretti flferretti marked this pull request as ready for review June 4, 2024 13:55
@flferretti flferretti requested a review from diegoferigo as a code owner June 4, 2024 13:55
diegoferigo
diegoferigo approved these changes Jun 4, 2024
View reviewed changes
Copy link
Member

@diegoferigo diegoferigo left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Awesome! Thanks for spotting these two bugs (static joint friction and missing conversion of link forces passed by the user).

@flferretti flferretti merged commit 2fa8eaa into main Jun 4, 2024
29 checks passed
@flferretti flferretti deleted the fix/representations branch June 4, 2024 15:19
@diegoferigo diegoferigo mentioned this pull request Jul 11, 2024
Closed
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@diegoferigo diegoferigo diegoferigo approved these changes

Assignees

@xela-95 xela-95

@flferretti flferretti

Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
3 participants
@flferretti @diegoferigo @xela-95