Merge pull request #2 from LudovicDeMatteis/main

Minor changes during tests

CMakeLists.txt

@@ -94,8 +94,4 @@ if(BUILD_PYTHON_INTERFACE)
 
 endif(BUILD_PYTHON_INTERFACE)
 
-if(BUILD_TESTING)
-  add_subdirectory(unittest)
-endif(BUILD_TESTING)
-
 install(FILES package.xml DESTINATION share/${PROJECT_NAME})

README.md

@@ -9,7 +9,18 @@ Installation instuctions are to be added.
 
 ## Run examples
 
-## Code detail
+## Contents
+* ActuationModel and ActuationData - *class for containing usefull information about the robot actuation (essentially which joints are actuated)*
+* Actuation utils - *utility functions to manipulate actuated and free joints configuration (e.g. recreate robot configuration from separated actuated and free joint configuration, extract actuated joints configuration from complete state...)*
+* Closures - *Functions to determine closed configurations based on open configuration and fixed serial joints*
+* Constraints - *Functions to compute contact constraint violation for 6D and 3D contacts*
+* Forward Kinematics
+* Inverse Dynamics
+* Inverse Kinematics
+* Freeze Joints - *Fixes some joints and recreate the Acutation and Constraints models*
+* Jacobian - *Computes closed-loop jacobians*
+* Mounting - *Computes a mounted condiguration based on the contact constraints (internal and with the environment)
+* Projection - *Projects configuration to the closest closed-loop configuration*
 
 ## :copyright: Credits
 

pyproject.toml

@@ -6,10 +6,10 @@ build-backend = "setuptools.build_meta"
 name = "toolbox-parallel-robots"
 version = "0.0.1"
 dependencies = [
-    "pin",
+  "pin"
 ]
 
 [tool.setuptools]
 packages = [
-    "toolbox_parallel_robots",
+  "toolbox_parallel_robots"
 ]

toolbox_parallel_robots/__init__.py

@@ -1,7 +1,7 @@
 # ruff: noqa: F401
-from .actuation import mergeq, mergev, qfree, qmot, vfree, vmot
-from .actuation_data import ActuationData
 from .actuation_model import ActuationModel
+from .actuation_data import ActuationData
+from .actuation import qfree, qmot, vfree, vmot, mergeq, mergev
 from .closures import partialLoopClosure, partialLoopClosureFrames
 from .constraints import (
     constraintResidual,
@@ -19,14 +19,14 @@
 from .inverse_kinematics import (
     closedLoopInverseKinematics,
     closedLoopInverseKinematicsCasadi,
-    closedLoopInverseKinematicsProximal,
     closedLoopInverseKinematicsScipy,
+    closedLoopInverseKinematicsProximal,
 )
 from .jacobian import (
+    separateConstraintJacobian,
     computeClosedLoopFrameJacobian,
     computeDerivative_dq_dqmot,
     inverseConstraintKinematicsSpeed,
-    separateConstraintJacobian,
 )
 from .mounting import (
     closedLoopMount,
@@ -35,8 +35,8 @@
     closedLoopMountScipy,
 )
 from .projections import (
-    accelerationProjection,
     configurationProjection,
     configurationProjectionProximal,
     velocityProjection,
+    accelerationProjection,
 )

toolbox_parallel_robots/freeze_joints.py

@@ -91,7 +91,7 @@ def freezeJoints(
         reduced_constraint_models = [
             pin.RigidConstraintModel(
                 cm.type,
-                model,
+                reduced_model,
                 cm.joint1_id,
                 cm.joint1_placement,
                 cm.joint2_id,  # To the world

toolbox_parallel_robots/sliders/foo.py

@@ -6,13 +6,11 @@
 
 """
 
-import tkinter as tk
-
 import meshcat
+import tkinter as tk
 import pinocchio as pin
-
-from sliders.tk_robot_sliders import SlidersFrame
-from sliders.tk_sliders_manager import SlidersManager
+from toolbox_parallel_robots.tk_robot_sliders import SlidersFrame
+from toolbox_parallel_robots.tk_sliders_manager import SlidersManager
 
 
 # * Interface to activate or deactivate constraints on the robot
@@ -43,21 +41,6 @@ def createSlidersInterface(
     if q0 is None:
         q0 = pin.neutral(model)
 
-    # # * Adding constraints
-    # addXYZAxisToConstraints(model, visual_model, constraint_models, scale=scale)
-
-    # # * Add frames to all joints
-    # addXYZAxisToJoints(model, visual_model, scale=scale)
-
-    # * Create data
-    # data = model.createData()
-    # constraint_datas = [cm.createData() for cm in constraint_models]
-    # * Set a scale factor to handle too small and too big robots
-    # scale = 1
-
-    # replaceGeomByXYZAxis(visual_model, viz, scale=scale)
-    # viz.display(q0)
-
     # * Create the interface
     root = tk.Tk()
     root.bind("<Escape>", lambda ev: root.destroy())
@@ -88,10 +71,11 @@ def createSlidersInterface(
     # constraint_models = []
     # mot_ids_q = [model.getJointId(joint_name) for joint_name in ["FL_HAA", "FL_HFE", "FL_KFE", "FR_HAA", "FR_HFE", "FR_KFE", "HL_HAA", "HL_HFE", "HL_KFE", "HR_HAA", "HR_HFE", "HR_KFE"]]
     # * Create the visualizer
-    import meshcat
     import pinocchio as pin
+    from pinocchio.visualize import MeshcatVisualizer
+    import meshcat
 
-    viz = pin.visualize.MeshcatVisualizer(model, collision_model, visual_model)
+    viz = MeshcatVisualizer(model, collision_model, visual_model)
     viz.viewer = meshcat.Visualizer(zmq_url="tcp://127.0.0.1:6000")
     viz.clean()
     viz.loadViewerModel(rootNodeName="universe")

toolbox_parallel_robots/sliders/util_frames.py

@@ -1,5 +1,5 @@
-import hppfcl
 import pinocchio as pin
+import hppfcl
 
 
 def addXYZAxisToFrames(rm, vm, basename="XYZ", scale=1, world=False):
@@ -83,8 +83,6 @@ def replaceGeomByXYZAxis(vm, viz, prefix="XYZ_", visible="OFF", scale=1):
             print(g.name)
             # gname = viz.getViewerNodeName(g, pin.VISUAL)
             viz.delete(g, pin.VISUAL)
-            # gv.addXYZaxis(gname, [1., 1, 1., 1.], .01*scale, .2*scale)
-            # gv.setVisibility(gname, visible)
 
 
 def freeze(robot, indexToLock, referenceConfigurationName=None, rebuildData=True):