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Read frames from the original model description #150

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merged 3 commits into from
May 20, 2024
Merged

Read frames from the original model description #150

merged 3 commits into from
May 20, 2024

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diegoferigo
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@diegoferigo diegoferigo commented May 9, 2024 •
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This PR exploits the recent enhancement in our parser ROD (ami-iit/rod#34) to populate the intermediate description (obtained from SDF/URDF models and used to build the JaxSimModel) with frame-related data.

cc @xela-95

📚 Documentation preview 📚: https://jaxsim--150.org.readthedocs.build//150/

@diegoferigo diegoferigo self-assigned this May 9, 2024
@xela-95 xela-95 mentioned this pull request May 10, 2024
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@diegoferigo diegoferigo marked this pull request as ready for review May 20, 2024 09:12
@diegoferigo diegoferigo requested a review from xela-95 May 20, 2024 09:16
flferretti
flferretti approved these changes May 20, 2024
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LGTM, thanks

@diegoferigo
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@xela-95 I tried also to rebase your #148 over this PR and run the test with ErgoCub, it succeeded for all frames included r_sole and l_sole.

pytest on #148 
jaxsim on  feature/expose-frame-quantities via 🐍 v3.12.2 🅒 /jaxsim  took 12s 
✦ ❯ pytest -vv -s tests/test_api_frame.py -k "test_frame_transforms"
rod[24593] INFO Calling sdformat through '/jaxsim/bin/gz sdf'
jaxsim[24593] INFO Enabling JAX to use 64bit precision
jaxsim[24593] DEBUG Using JAX compilation cache located at '/tmp/jaxsim_compilation_cache'
=================================================================================== test session starts ====================================================================================
platform linux -- Python 3.12.2, pytest-8.2.0, pluggy-1.5.0 -- /jaxsim/bin/python3.12
cachedir: .pytest_cache
rootdir: /home/dferigo/git/jaxsim
configfile: pyproject.toml
plugins: typeguard-2.13.3, icdiff-0.9, jaxtyping-0.2.28, anyio-4.3.0
collected 7 items / 6 deselected / 1 selected                                                                                                                                              

tests/test_api_frame.py::test_frame_transforms jaxsim[24593] DEBUG Found model 'ergoCub' in SDF resource
rod[24593] DEBUG Building kinematic tree of model 'ergoCub'
rod[24593] DEBUG Selecting 'root_link' as canonical link
rod[24593] DEBUG Node 'world' became a frame attached to 'root_link'
jaxsim[24593] DEBUG Model 'ergoCub' is floating-base
jaxsim[24593] DEBUG Considering 'root_link' as base link
jaxsim[24593] INFO Lumping chain: r_foot_rear->(r_foot_rear_ft_sensor)->r_ankle_2
jaxsim[24593] INFO Lumping chain: r_foot_front->(r_foot_front_ft_sensor)->r_ankle_2
jaxsim[24593] INFO Lumping chain: l_foot_rear->(l_foot_rear_ft_sensor)->l_ankle_2
jaxsim[24593] INFO Lumping chain: l_foot_front->(l_foot_front_ft_sensor)->l_ankle_2
jaxsim[24593] INFO Lumping chain: r_shoulder_3->(r_arm_ft_sensor)->r_shoulder_2
jaxsim[24593] INFO Lumping chain: l_shoulder_3->(l_arm_ft_sensor)->l_shoulder_2
jaxsim[24593] INFO Lumping chain: r_hip_3->(r_leg_ft_sensor)->r_hip_2
jaxsim[24593] INFO Lumping chain: l_hip_3->(l_leg_ft_sensor)->l_hip_2
jaxsim[24593] INFO Link 'r_foot_rear' became a frame
jaxsim[24593] INFO Link 'l_foot_rear' became a frame
jaxsim[24593] INFO Link 'l_foot_front' became a frame
jaxsim[24593] INFO Link 'r_hip_3' became a frame
jaxsim[24593] INFO Link 'l_hip_3' became a frame
jaxsim[24593] INFO Link 'r_shoulder_3' became a frame
jaxsim[24593] INFO Link 'l_shoulder_3' became a frame
jaxsim[24593] INFO Link 'r_foot_front' became a frame
jaxsim[24593] INFO New parent of frame 'l_foot_front' is 'l_ankle_2'
jaxsim[24593] INFO New parent of frame 'l_foot_rear' is 'l_ankle_2'
jaxsim[24593] INFO New parent of frame 'l_hip_3' is 'l_hip_2'
jaxsim[24593] INFO New parent of frame 'l_shoulder_3' is 'l_shoulder_2'
jaxsim[24593] INFO New parent of frame 'r_foot_front' is 'r_ankle_2'
jaxsim[24593] INFO New parent of frame 'r_foot_rear' is 'r_ankle_2'
jaxsim[24593] INFO New parent of frame 'r_hip_3' is 'r_hip_2'
jaxsim[24593] INFO New parent of frame 'r_shoulder_3' is 'r_shoulder_2'
jaxsim[24593] DEBUG Moving collidable point: l_foot_front -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_front -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_front -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_front -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_front -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_front -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_front -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_front -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_rear -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_rear -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_rear -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_rear -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_rear -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_rear -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_rear -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: l_foot_rear -> l_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_front -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_front -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_front -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_front -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_front -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_front -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_front -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_front -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_rear -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_rear -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_rear -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_rear -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_rear -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_rear -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_rear -> r_ankle_2
jaxsim[24593] DEBUG Moving collidable point: r_foot_rear -> r_ankle_2
jaxsim[24593] DEBUG Frame 'l_sole_fixed_joint' is now attached to 'l_ankle_2'
jaxsim[24593] DEBUG Frame 'l_sole' is now attached to 'l_ankle_2'
jaxsim[24593] DEBUG Frame 'r_sole_fixed_joint' is now attached to 'r_ankle_2'
jaxsim[24593] DEBUG Frame 'r_sole' is now attached to 'r_ankle_2'
jaxsim[24593] DEBUG In iDynTree the frame "base_link" is connected to link root_link
jaxsim[24593] DEBUG In Jaxsim the frame "base_link" is connected to link root_link
jaxsim[24593] DEBUG In iDynTree the frame "head_imu_0" is connected to link head
jaxsim[24593] DEBUG In Jaxsim the frame "head_imu_0" is connected to link head
jaxsim[24593] DEBUG In iDynTree the frame "head_laser_frame" is connected to link head
jaxsim[24593] DEBUG In Jaxsim the frame "head_laser_frame" is connected to link head
jaxsim[24593] DEBUG In iDynTree the frame "imu_frame" is connected to link head
jaxsim[24593] DEBUG In Jaxsim the frame "imu_frame" is connected to link head
jaxsim[24593] DEBUG In iDynTree the frame "l_arm_ft" is connected to link l_shoulder_2
jaxsim[24593] DEBUG In Jaxsim the frame "l_arm_ft" is connected to link l_shoulder_2
jaxsim[24593] DEBUG In iDynTree the frame "l_foot_front" is connected to link l_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "l_foot_front" is connected to link l_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "l_foot_front_ft" is connected to link l_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "l_foot_front_ft" is connected to link l_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "l_foot_rear" is connected to link l_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "l_foot_rear" is connected to link l_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "l_foot_rear_ft" is connected to link l_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "l_foot_rear_ft" is connected to link l_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "l_hip_3" is connected to link l_hip_2
jaxsim[24593] DEBUG In Jaxsim the frame "l_hip_3" is connected to link l_hip_2
jaxsim[24593] DEBUG In iDynTree the frame "l_leg_ft" is connected to link l_hip_2
jaxsim[24593] DEBUG In Jaxsim the frame "l_leg_ft" is connected to link l_hip_2
jaxsim[24593] DEBUG In iDynTree the frame "l_shoulder_3" is connected to link l_shoulder_2
jaxsim[24593] DEBUG In Jaxsim the frame "l_shoulder_3" is connected to link l_shoulder_2
jaxsim[24593] DEBUG In iDynTree the frame "l_sole" is connected to link l_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "l_sole" is connected to link l_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "r_arm_ft" is connected to link r_shoulder_2
jaxsim[24593] DEBUG In Jaxsim the frame "r_arm_ft" is connected to link r_shoulder_2
jaxsim[24593] DEBUG In iDynTree the frame "r_foot_front" is connected to link r_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "r_foot_front" is connected to link r_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "r_foot_front_ft" is connected to link r_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "r_foot_front_ft" is connected to link r_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "r_foot_rear" is connected to link r_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "r_foot_rear" is connected to link r_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "r_foot_rear_ft" is connected to link r_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "r_foot_rear_ft" is connected to link r_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "r_hip_3" is connected to link r_hip_2
jaxsim[24593] DEBUG In Jaxsim the frame "r_hip_3" is connected to link r_hip_2
jaxsim[24593] DEBUG In iDynTree the frame "r_leg_ft" is connected to link r_hip_2
jaxsim[24593] DEBUG In Jaxsim the frame "r_leg_ft" is connected to link r_hip_2
jaxsim[24593] DEBUG In iDynTree the frame "r_shoulder_3" is connected to link r_shoulder_2
jaxsim[24593] DEBUG In Jaxsim the frame "r_shoulder_3" is connected to link r_shoulder_2
jaxsim[24593] DEBUG In iDynTree the frame "r_sole" is connected to link r_ankle_2
jaxsim[24593] DEBUG In Jaxsim the frame "r_sole" is connected to link r_ankle_2
jaxsim[24593] DEBUG In iDynTree the frame "realsense_depth_frame" is connected to link realsense
jaxsim[24593] DEBUG In Jaxsim the frame "realsense_depth_frame" is connected to link realsense
jaxsim[24593] DEBUG In iDynTree the frame "realsense_imu_0" is connected to link realsense
jaxsim[24593] DEBUG In Jaxsim the frame "realsense_imu_0" is connected to link realsense
jaxsim[24593] DEBUG In iDynTree the frame "realsense_rgb_frame" is connected to link realsense
jaxsim[24593] DEBUG In Jaxsim the frame "realsense_rgb_frame" is connected to link realsense
jaxsim[24593] DEBUG In iDynTree the frame "waist_imu_0" is connected to link torso_1
jaxsim[24593] DEBUG In Jaxsim the frame "waist_imu_0" is connected to link torso_1
PASSED

@diegoferigo diegoferigo merged commit d6748eb into main May 20, 2024
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@diegoferigo diegoferigo deleted the read_sdf_frames branch May 20, 2024 09:30
@diegoferigo diegoferigo mentioned this pull request May 21, 2024
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@flferretti flferretti flferretti approved these changes

@xela-95 xela-95 Awaiting requested review from xela-95 xela-95 is a code owner

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