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Mjcf : Fix parsing of armature parameters #2477

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Nov 13, 2024
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Merged

Mjcf : Fix parsing of armature parameters #2477

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9170d60
[parser/mjcf] Change armature representation to fit the one that is i…
Nov 13, 2024
61a9cec
[parser/mjcf] test parsing of armature
Nov 13, 2024
ace63a6
Update changelog
Nov 13, 2024
ea6a22e
[parser/mjcf] Simplify concatenation
Nov 13, 2024
fa22d52
[parser/mjcf] Armature uses nv
Nov 13, 2024
d5e502b
[parser/mjcf] Add parsing of the default without name class
Nov 13, 2024
92aa591
[parser/mjcf] Remove useless typedef
Nov 13, 2024
c721aa2
Update Changelog
Nov 13, 2024
955736b
mjcf: Copy frame to avoid undefined behavior when modifying the frame…
jorisv Nov 13, 2024
fdb2fa6
changelog: Add entry
jorisv Nov 13, 2024
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3 changes: 2 additions & 1 deletion include/pinocchio/parsers/mjcf/mjcf-graph.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ namespace pinocchio
Eigen::VectorXd damping;

// Armature inertia created by this joint
double armature = 0.;
Eigen::VectorXd armature;
// Dry friction.
double frictionLoss = 0.;

Expand All @@ -152,6 +152,7 @@ namespace pinocchio
;
friction = Eigen::VectorXd::Constant(1, 0.);
damping = Eigen::VectorXd::Constant(1, 0.);
armature = Eigen::VectorXd::Constant(1, 0.);
}

/// @brief Set dimension to the limits to match the joint nq and nv.
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13 changes: 9 additions & 4 deletions src/parsers/mjcf/mjcf-graph.cpp
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Expand Up @@ -127,7 +127,7 @@ namespace pinocchio
ret.minConfig = Vector::Constant(Nq, -1.01);
ret.friction = Vector::Constant(Nv, 0.);
ret.damping = Vector::Constant(Nv, 0.);
ret.armature = armature;
ret.armature = Vector::Constant(Nv, armature[0]);
ret.frictionLoss = frictionLoss;
ret.springStiffness = springStiffness;
ret.springReference = springReference;
Expand All @@ -137,6 +137,7 @@ namespace pinocchio
template<int Nq, int Nv>
RangeJoint RangeJoint::concatenate(const RangeJoint & range) const
{
typedef UrdfVisitor::Vector Vector;
assert(range.maxEffort.size() == Nv);
assert(range.minConfig.size() == Nq);

Expand All @@ -160,6 +161,10 @@ namespace pinocchio
ret.springReference.tail(1) = range.springReference;
ret.springStiffness.conservativeResize(springStiffness.size() + 1);
ret.springStiffness.tail(1) = range.springStiffness;

ret.armature.conservativeResize(armature.size() + Nv);
ret.armature.tail(Nv) = Vector::Constant(Nv, range.armature[0]);

return ret;
}

Expand Down Expand Up @@ -208,7 +213,7 @@ namespace pinocchio

value = el.get_optional<double>("<xmlattr>.armature");
if (value)
range.armature = *value;
range.armature[0] = *value;

// friction loss
value = el.get_optional<double>("<xmlattr>.frictionloss");
Expand Down Expand Up @@ -898,7 +903,7 @@ namespace pinocchio

// Add armature info
JointIndex j_id = urdfVisitor.getJointId(joint.jointName);
urdfVisitor.model.armature[static_cast<Eigen::Index>(j_id) - 1] = range.armature;
urdfVisitor.model.armature.segment(urdfVisitor.model.joints[j_id].idx_v(), urdfVisitor.model.joints[j_id].nv()) = range.armature;
}

void MjcfGraph::fillModel(const std::string & nameOfBody)
Expand Down Expand Up @@ -1007,7 +1012,7 @@ namespace pinocchio
FrameIndex jointFrameId = urdfVisitor.model.addJointFrame(joint_id, (int)parentFrameId);
urdfVisitor.appendBodyToJoint(jointFrameId, inert, bodyInJoint, nameOfBody);

urdfVisitor.model.armature[static_cast<Eigen::Index>(joint_id) - 1] = rangeCompo.armature;
urdfVisitor.model.armature.segment(urdfVisitor.model.joints[joint_id].idx_q(), urdfVisitor.model.joints[joint_id].nq()) = rangeCompo.armature;
}

FrameIndex previousFrameId = urdfVisitor.model.frames.size();
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38 changes: 38 additions & 0 deletions unittest/mjcf.cpp
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Expand Up @@ -974,6 +974,44 @@ BOOST_AUTO_TEST_CASE(joint_and_inertias)
BOOST_CHECK(model_m.inertias[1].isApprox(real_inertia));
}

BOOST_AUTO_TEST_CASE(armature)
{
typedef pinocchio::SE3::Vector3 Vector3;
typedef pinocchio::SE3::Matrix3 Matrix3;

std::istringstream xmlData(R"(
<mujoco model="model_RX">
<worldbody>
<body name="link0">
<body name="link1" pos="0 0 0">
<joint name="joint1" type="hinge" axis="1 0 0" armature="1.3"/>
<joint name="joint2" type="hinge" axis="0 1 0" armature="2.4"/>
<joint name="joint3" type="hinge" axis="0 0 1" armature="0.4"/>
<body pos=".2 0 0" name="body2">
<joint type="ball" armature=".1"/>
</body>
</body>
</body>
</worldbody>
</mujoco>)");

auto namefile = createTempFile(xmlData);

typedef ::pinocchio::mjcf::details::MjcfGraph MjcfGraph;
pinocchio::Model model_m;
MjcfGraph::UrdfVisitor visitor(model_m);

MjcfGraph graph(visitor, "fakeMjcf");
graph.parseGraphFromXML(namefile.name());
graph.parseRootTree();

Eigen::VectorXd armature_real(model_m.nv);
armature_real << 1.3, 2.4, 0.4, 0.1, 0.1, 0.1;

for (size_t i = 0; i < size_t(model_m.nv); i++)
BOOST_CHECK_EQUAL(model_m.armature[i], armature_real[i]);
}

// Test reference positions and how it's included in keyframe
BOOST_AUTO_TEST_CASE(reference_positions)
{
Expand Down
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