Extend Support for Mimic Joint#2441

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MegMll wants to merge 317 commits intostack-of-tasks:develfrom MegMll:topic/mimic

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Commits on Jan 15, 2025

[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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Applied pre-commit
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Fix init problem
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[algo/jacobian] Fix rebasing
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python: Fix linting

jorisv
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Commits on Jan 16, 2025

[kinematics] Add documentation to getRelativePlacement
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[algo/model] Change error message to be more precise
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[algo/model] Access directly to variables
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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/jacobian] Remove useless cast
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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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Commits on Jan 20, 2025

[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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Commits on Jan 23, 2025

[algorithms] Use throw instead of assert
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[parser/urdf] Correct urdf parser
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Apply pre-commit
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Commits on Jan 24, 2025

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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Commits on Jan 27, 2025

[Check] Define MimicChecker to check if model has mimic joint
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[Check] Add model checker to all non supported algorithms for model with mimic joints
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Commits on Jan 28, 2025

[EtienneAr feedback] topic/mimic: nvSubtree_fromRow/parents_fromRow indexed by extended model, add condensed version of G matrix and fix jacobians
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Remove mimicable collection variant and associated function
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[unittest] Revert changes to not pollute pr
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Apply pre-commit
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[Check] Add Mimic Checker to checker list
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cppad: Deactivate algorithm geometry and model explicit template instantiation

jorisv
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algorithm: Split check into two headers to avoid include dependency hell in contact-cholesky.hxx
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[Cmake] Update sources file
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cmake: Add check.hpp
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Commits on Jan 29, 2025

Commits on Jan 30, 2025

[urdf] Simplify mimic parsing
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[Check] Remove mimic exception
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[Joint] Mimic is not allowed before its parent (throw)
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[test/check] Add test for mimic data
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[test] Modify to be conform to the new throw in mimic joint
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[joint/translation] Go back to old api
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Commits on Feb 3, 2025

[Check] Remove MimicChecker from default list
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[Check] Remove mimic from default checker
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Remove dead code lines
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[serialize] Fix serialize for mimic
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[joint_mimic] Fix cast of joint
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[EtienneAr feedback] topic/mimic: pretty print for mimic joints
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[EtienneAr feedback] topic/mimic: Store nq/nv and remove mimicking joint visitor call
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[Joint] Re-introduce old api for setIndexes
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Fix doc
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Remove useless include
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apply pre-commit
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[EtienneAr feedback] topic/mimic: Minor visitor call remove
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[parser/urdf] Simplify mimic parsing
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[parser/urdf] Mimic default to false
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[bindings/urdf] Parser default argument to bindings to not break api
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Revert mimic argument
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Revert setIndexes to old api
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[SampleModel] Simplify bindings
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Revert setIndexes uses back to old api
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Commits on Feb 4, 2025

[EtienneAr feedback] topic/mimic: rename m_jmodel_ref > m_jmodel_mimicking (resp data)
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[EtienneAr feedback] topic/mimic: add size check for new data in checkdata
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[EtienneAr feedback] topic/mimic: Minor comment update for mimic setIndexes
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[EtienneAr feedback] topic/mimic: Fix mimic serialization
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[bindings/sampleModel] Add missing arguments
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[bindings/model] Expose transformJointIntoMimic
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[bindings/joint] Expose new aatributes idx_vExtended and nvExtended
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[bindings/sampleModel] Coherent with cpp implementation
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[joint/Mimic] Add velocitySelector and fix typo
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Commits on Feb 5, 2025

[bindings/model] Fix scalar of transformJointIntoMimic
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[algo/model] Fix reduced model for mimic
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[algo/model] Remove useless typedef that causes compilation warning
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Commits on Feb 6, 2025

[data] Use nvExtended instead of nv in nvSubtree
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Commits on Feb 7, 2025

[unittest] Reactivate mimic in reachable workspace
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[unittest] Build mimic model generic
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[unittest] Use generic buildMimic function and add test for double mimic in a model
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[Common-operation] Assert that it's not possible
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[joint/helical] Add affine transform to mimic
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[unittest] Fix acceleration
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[EtienneAr Feedback] joint-mimic: Remove mutable from joint data
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[serialization] Fix mimic data serialization
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Commits on Feb 10, 2025

[algo/centroidal] Add comments to explain mimic
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[algo/rnea] Add comment to explain mimic
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[unittest/mimic] Remove test for no transform (since it throws now)
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Apply pre-commit
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[Serialization/Data] Fix mimic data serialization
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[parser/urdf] Don't break api
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Commits on Feb 11, 2025

[bindings/model] Use proxy
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[model] Iintroduce mimic_joints and mimic_pairs value (missing serialize and bindigns for mimic_pairs)
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[algo/model] Add new model attributes to transformMimicJoint
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[data] Fix nvSubtree
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Commits on Feb 12, 2025

[parser/urdf] Add false to verbose argument and fix argument order issues
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[unittest] Factorize fonction
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[unittest] Test mimic manipulator
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[unittest] add mimic kinematics test
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[unittest] Remove dead code
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[data & check-data] change nvSubtree convention for mimic
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[unittest] Remove test for sample-model
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Commits on Feb 13, 2025

[serialization] Remove dead code
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[algo/center-of-mass] Add assert for jacobian subtree
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[unittest] Fix model generator
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[unittest] Fix G matrix
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[unittest] Remove cout
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wip for crba patch
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Commits on Feb 14, 2025

[algo/crba] Use new patch for crba with local mimic
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[EtienneAr feedback] topic/mimic: restore jacobian perfomrances (remove +=) and add mimicked_joint id vector in robot model
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[EtienneAr feedback] topic/mimic: Rename Joint[Velocity/Config]ExtendedModelSelector into JointMapped[Velocity/Config]Selector that is more explicit
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[EtienneAr feedback] topic/mimic: Add more jacobian tests for mimic joints
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[algo/crba] Add patch for crba world with mimic joints
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Commits on Feb 17, 2025

[data] Add check data test for mimic_subtree_joint
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[algo/crba] Add comments and use new data struct in local mimic patch
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[model] Remove useless structure
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[data] add comment for new vector (special mimic)
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[unittest/data] Add test for new vector
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[algo/check] Fix data check
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[algo/crba] [EtienneAr Feedback] Fix malloc error
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[EtienneAr feedback] topic/mimic: Rename MaxNVExtended into MaxNVMimicked and use it in crba patch
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Commits on Feb 18, 2025

[algo/check-data] Put check for mimic_subtree outside the joint loop
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[unittest] Add test when mimic is terminal
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[data] use -1 when mimic is terminal to be more explicit
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[algo/crba] remove useless lines
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[algo/crba] Fix compilation warning
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[algo/crba] use eigen::ref, and add comment to algorithm
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[algo/model] Fix transform into mimic in the case a mimic is already in the joint list and has a index higher than the new mimic
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[algo/crba] Remove changes for -1 (does not work because joint indexes are unsigned int)
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[joint] Remove compilation warning
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Commits on Feb 19, 2025

[data] Stop using -1 (not unsigned int safe)
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[unittest/crba] test for mimic terminal
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[algo/crba] Fix heap allocation
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[EtienneAr feedback] topic/mimic: WiP add (non_)mimic_parents_fromRow
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[EtienneAr feedback] topic/mimic: Fix Jacobian for mimic and make it more efficient
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[EtienneAr feedback] topic/mimic: Add basic checks in chack-data from mimic_parents_fromRow and non_mimic_parents_fromRow
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[algo/crba] Move joint visitor into joint visitor dedicated file
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[joint-visitor] Add comment
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[examples] Add an example on what a mimic can and cannot do
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[data] Remove compilation warning
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[algo/crba] Add comment
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[example] Apply pre-commit
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[Joint/joint-mimic] Change order to remove compilation warning

MegMll
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jorisv
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[unittest] Remove useless lines
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[algo/jacobian] Update doc

MegMll
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jorisv
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[algo/jacobian] Update doc

MegMll
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jorisv
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[algo/jacobian] update doc

MegMll
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jorisv
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Commits on Feb 21, 2025

[EtienneAr feedback] topic/mimic: Squash jacobian fix
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[EtienneAr feedback] topic/mimic: use idx_vs array instead of visitor and fix jacobian bug
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