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Add parametrization w.r.t Hardware Parameters #49

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merged 20 commits into from
Dec 6, 2023
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294d4c4
added model parametric and first version of casadi computation parame…
CarlottaSartore Oct 11, 2023
0686bed
fix import error, fix missing methods
CarlottaSartore Oct 19, 2023
ed89e51
fix non ashable problem
CarlottaSartore Oct 19, 2023
43d2711
fix computations for casadi
CarlottaSartore Oct 20, 2023
c5560ed
working with casadi but for the head frame
CarlottaSartore Oct 20, 2023
e584294
Added computations parametric for numpy, jax, pythorch
CarlottaSartore Oct 20, 2023
cb2eec7
no regression tests working for all backend
CarlottaSartore Nov 6, 2023
6386f7d
fix tests jax with hardware parameters
CarlottaSartore Nov 6, 2023
83fd338
tests for computations with hardware parameters and formatted
CarlottaSartore Nov 6, 2023
4b1263f
remove useless method, add first documentation
CarlottaSartore Nov 6, 2023
8f60f7c
Added documentation for parametric kyndyn classes, refactor of the va…
CarlottaSartore Nov 7, 2023
164de58
rebase on top of main, implement jdotnu for parametric, update tests,…
CarlottaSartore Nov 7, 2023
8bf4fda
update CI
CarlottaSartore Nov 7, 2023
123462d
fix urdf parser py version
CarlottaSartore Nov 7, 2023
0903bd1
remove fix urdf parser py version
CarlottaSartore Nov 7, 2023
5bec824
remove encoding from stickbot for tests with hardware parameters
CarlottaSartore Nov 7, 2023
5bdcf9c
refactor of parmetric implementation
CarlottaSartore Nov 9, 2023
bb5a963
Update src/adam/parametric/jax/computations_parametric.py
CarlottaSartore Dec 5, 2023
ab08cf9
fix typos and copy paste leftovers
CarlottaSartore Dec 5, 2023
7b0b3aa
Merge branch 'main' into model_parametric
Giulero Dec 6, 2023
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fix non ashable problem
  • Loading branch information
CarlottaSartore committed Nov 7, 2023
commit ed89e51ee9ea71a36d7aaa4c60575724a6d7a576
11 changes: 6 additions & 5 deletions src/adam/model/parametric_factories/parametric_joint.py
Original file line number Diff line number Diff line change
Expand Up @@ -19,21 +19,22 @@ def __init__(
) -> None:
self.math = math
self.name = joint.name
self.parent = parent_link
self.parent = parent_link.link
self.parent_parametric = parent_link
self.child = joint.child
self.type = joint.joint_type
self.axis = joint.axis
self.limit = joint.limit
self.idx = idx
self.joint = joint
joint_offset = self.parent.compute_joint_offset(joint, self.parent.link_offset)
joint_offset = self.parent_parametric.compute_joint_offset(joint, self.parent_parametric.link_offset)
self.offset = joint_offset
self.origin = self.modify(self.parent.link_offset)
self.origin = self.modify(self.parent_parametric.link_offset)

def modify(self, parent_joint_offset):
length = self.parent.get_principal_lenght_parametric()
length = self.parent_parametric.get_principal_lenght_parametric()
# Ack for avoiding depending on casadi
vo = self.parent.origin[2]
vo = self.parent_parametric.origin[2]
xyz_rpy = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
xyz_rpy[0] = self.joint.origin.xyz[0]
xyz_rpy[1] = self.joint.origin.xyz[1]
Expand Down