Add BuildFromMJCF function to RobotWrapper #2363
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
![github-actions[bot]](https://avatars.githubusercontent.com/in/15368?s=60&v=4){kind=small}
There was a problem hiding this comment.
👋 Hi,
This is a reminder message to please assign a proper label to this Pull Request.
The possible labels are:
- build_collision (build pinocchio with coal support)
- build_casadi (build pinoochio with casadi support)
- build_autodiff (build pinocchio with cppad support)
- build_codegen (build pinocchio with cppadcg support)
- build_extra (build pinocchio with extra algorithms)
- build_mpfr (build pinocchio with Boost.Multiprecision support)
- build_sdf (build pinocchio with sdf parser)
- build_accelerate
- build_all (build pinocchio with all the options stated above)
Thanks.
nim65s
requested changes
Aug 6, 2024
nim65s
approved these changes
Aug 6, 2024
jcarpent
approved these changes
Aug 7, 2024
jcarpent
force-pushed
the
feature/wrapper_build_models_from_mjcf
branch
from
dc1f116 to
3d7f2c7
Compare
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Oct 8, 2024
## [3.2.0] - 2024-08-27
### Fixed
- Append pinocchio optional libraries into pkg-config file (stack-of-tasks/pinocchio#2322)
- Fixed support of DAE meshes with MeshCat (stack-of-tasks/pinocchio#2331)
- Fixed pointer casts in urdf parser (stack-of-tasks/pinocchio#2339)
- Remove CMake CMP0167 warnings (stack-of-tasks/pinocchio#2347)
- Fixed urdfdom in ROS packaging (stack-of-tasks/pinocchio#2341)
- Fixed overview-urdf cpp example (stack-of-tasks/pinocchio#2384)
- Fixed mjcf model without a base link parsing (stack-of-tasks/pinocchio#2386)
- Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples (stack-of-tasks/pinocchio#2392)
### Added
- Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint (stack-of-tasks/pinocchio#2315)
- Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) (stack-of-tasks/pinocchio#2323)
- Add compatibility with jrl-cmakemodules workspace (stack-of-tasks/pinocchio#2333)
- Add ``collision_color`` parameter to `MeshcatVisualizer.loadViewerModel` (stack-of-tasks/pinocchio#2350)
- Add ``BuildFromMJCF`` function to RobotWrapper (stack-of-tasks/pinocchio#2363)
- Add more CasADi examples (stack-of-tasks/pinocchio#2388)
### Removed
- Remove deprecated headers related to joint constraints (stack-of-tasks/pinocchio#2382)
### Changed
- Use eigenpy to expose `GeometryObject::meshMaterial` variant (stack-of-tasks/pinocchio#2315)
- GepettoViewer is no more the default viewer for RobotWrapper (stack-of-tasks/pinocchio#2331)
- Modernize python code base with ruff (stack-of-tasks/pinocchio#2367)
- Restructure CppAD and CasADi examples (stack-of-tasks/pinocchio#2388)
- Enhance and fix CppAD benchmarks outputs (stack-of-tasks/pinocchio#2393)
Packaging Changes:
- Removed patches af, an, ap: fixed upstream
- Updated patches ag, ak
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Oct 9, 2024
## [3.2.0] - 2024-08-27
### Fixed
- Append pinocchio optional libraries into pkg-config file (stack-of-tasks/pinocchio#2322)
- Fixed support of DAE meshes with MeshCat (stack-of-tasks/pinocchio#2331)
- Fixed pointer casts in urdf parser (stack-of-tasks/pinocchio#2339)
- Remove CMake CMP0167 warnings (stack-of-tasks/pinocchio#2347)
- Fixed urdfdom in ROS packaging (stack-of-tasks/pinocchio#2341)
- Fixed overview-urdf cpp example (stack-of-tasks/pinocchio#2384)
- Fixed mjcf model without a base link parsing (stack-of-tasks/pinocchio#2386)
- Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples (stack-of-tasks/pinocchio#2392)
### Added
- Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint (stack-of-tasks/pinocchio#2315)
- Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) (stack-of-tasks/pinocchio#2323)
- Add compatibility with jrl-cmakemodules workspace (stack-of-tasks/pinocchio#2333)
- Add ``collision_color`` parameter to `MeshcatVisualizer.loadViewerModel` (stack-of-tasks/pinocchio#2350)
- Add ``BuildFromMJCF`` function to RobotWrapper (stack-of-tasks/pinocchio#2363)
- Add more CasADi examples (stack-of-tasks/pinocchio#2388)
### Removed
- Remove deprecated headers related to joint constraints (stack-of-tasks/pinocchio#2382)
### Changed
- Use eigenpy to expose `GeometryObject::meshMaterial` variant (stack-of-tasks/pinocchio#2315)
- GepettoViewer is no more the default viewer for RobotWrapper (stack-of-tasks/pinocchio#2331)
- Modernize python code base with ruff (stack-of-tasks/pinocchio#2367)
- Restructure CppAD and CasADi examples (stack-of-tasks/pinocchio#2388)
- Enhance and fix CppAD benchmarks outputs (stack-of-tasks/pinocchio#2393)
## [3.1.0] - 2024-07-04
### Fixed
- Fix `appendModel` when joints after the base are in parallel (stack-of-tasks/pinocchio#2295)
- Fix `appendModel` build when called with template arguments different than the ones from `context` (stack-of-tasks/pinocchio#2284)
- Fix `TransformRevoleTpl::rotation` and `TransformHelicalTpl::rotation` build (stack-of-tasks/pinocchio#2284)
- Fix compilation issue for Boost 1.85 (stack-of-tasks/pinocchio#2255)
- Fix python bindings of `contactInverseDynamics` (stack-of-tasks/pinocchio#2263)
- Deactivate `BUILD_WITH_LIBPYTHON` when building with PyPy (stack-of-tasks/pinocchio#2274)
- Fix Python bindings cross building with `hpp-fcl` (stack-of-tasks/pinocchio#2288)
- Fix build issue on Windows when a deprecated header is included (stack-of-tasks/pinocchio#2292)
- Fix build issue on Windows when building in Debug mode (stack-of-tasks/pinocchio#2292)
- Fix visualization of meshes in meshcat (stack-of-tasks/pinocchio#2294)
- Fix Anymal simulation test (stack-of-tasks/pinocchio#2299)
- Fix contact derivatives and impulse dynamics tests (stack-of-tasks/pinocchio#2300)
- Fix CMake compatibility with old console_bridge version (stack-of-tasks/pinocchio#2312)
### Added
- Python unittest for `contactInverseDynamics` function (stack-of-tasks/pinocchio#2263)
- Added helper functions to return operation count of CasADi functions. (stack-of-tasks/pinocchio#2275)
- C++ and Python unittest for `dIntegrateTransport` to check vector transport and its inverse (stack-of-tasks/pinocchio#2273)
- Add kinetic and potential energy regressors (stack-of-tasks/pinocchio#2282)
### Removed
- Remove header `list.hpp` include for bindings of model and rnea (stack-of-tasks/pinocchio#2263)
Packaging Changes:
- Removed patches af, an, ap: fixed upstream
- Updated patches ag, ak
nim65s
added a commit
to nim65s/robotpkg
that referenced
this pull request
Oct 11, 2024
## [3.2.0] - 2024-08-27
### Fixed
- Append pinocchio optional libraries into pkg-config file (stack-of-tasks/pinocchio#2322)
- Fixed support of DAE meshes with MeshCat (stack-of-tasks/pinocchio#2331)
- Fixed pointer casts in urdf parser (stack-of-tasks/pinocchio#2339)
- Remove CMake CMP0167 warnings (stack-of-tasks/pinocchio#2347)
- Fixed urdfdom in ROS packaging (stack-of-tasks/pinocchio#2341)
- Fixed overview-urdf cpp example (stack-of-tasks/pinocchio#2384)
- Fixed mjcf model without a base link parsing (stack-of-tasks/pinocchio#2386)
- Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples (stack-of-tasks/pinocchio#2392)
### Added
- Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint (stack-of-tasks/pinocchio#2315)
- Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) (stack-of-tasks/pinocchio#2323)
- Add compatibility with jrl-cmakemodules workspace (stack-of-tasks/pinocchio#2333)
- Add ``collision_color`` parameter to `MeshcatVisualizer.loadViewerModel` (stack-of-tasks/pinocchio#2350)
- Add ``BuildFromMJCF`` function to RobotWrapper (stack-of-tasks/pinocchio#2363)
- Add more CasADi examples (stack-of-tasks/pinocchio#2388)
### Removed
- Remove deprecated headers related to joint constraints (stack-of-tasks/pinocchio#2382)
### Changed
- Use eigenpy to expose `GeometryObject::meshMaterial` variant (stack-of-tasks/pinocchio#2315)
- GepettoViewer is no more the default viewer for RobotWrapper (stack-of-tasks/pinocchio#2331)
- Modernize python code base with ruff (stack-of-tasks/pinocchio#2367)
- Restructure CppAD and CasADi examples (stack-of-tasks/pinocchio#2388)
- Enhance and fix CppAD benchmarks outputs (stack-of-tasks/pinocchio#2393)
## [3.1.0] - 2024-07-04
### Fixed
- Fix `appendModel` when joints after the base are in parallel (stack-of-tasks/pinocchio#2295)
- Fix `appendModel` build when called with template arguments different than the ones from `context` (stack-of-tasks/pinocchio#2284)
- Fix `TransformRevoleTpl::rotation` and `TransformHelicalTpl::rotation` build (stack-of-tasks/pinocchio#2284)
- Fix compilation issue for Boost 1.85 (stack-of-tasks/pinocchio#2255)
- Fix python bindings of `contactInverseDynamics` (stack-of-tasks/pinocchio#2263)
- Deactivate `BUILD_WITH_LIBPYTHON` when building with PyPy (stack-of-tasks/pinocchio#2274)
- Fix Python bindings cross building with `hpp-fcl` (stack-of-tasks/pinocchio#2288)
- Fix build issue on Windows when a deprecated header is included (stack-of-tasks/pinocchio#2292)
- Fix build issue on Windows when building in Debug mode (stack-of-tasks/pinocchio#2292)
- Fix visualization of meshes in meshcat (stack-of-tasks/pinocchio#2294)
- Fix Anymal simulation test (stack-of-tasks/pinocchio#2299)
- Fix contact derivatives and impulse dynamics tests (stack-of-tasks/pinocchio#2300)
- Fix CMake compatibility with old console_bridge version (stack-of-tasks/pinocchio#2312)
### Added
- Python unittest for `contactInverseDynamics` function (stack-of-tasks/pinocchio#2263)
- Added helper functions to return operation count of CasADi functions. (stack-of-tasks/pinocchio#2275)
- C++ and Python unittest for `dIntegrateTransport` to check vector transport and its inverse (stack-of-tasks/pinocchio#2273)
- Add kinetic and potential energy regressors (stack-of-tasks/pinocchio#2282)
### Removed
- Remove header `list.hpp` include for bindings of model and rnea (stack-of-tasks/pinocchio#2263)
Packaging Changes:
- Removed patches af, an, ap: fixed upstream
- Updated patches ag, ak
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds a
BuildFromMJCFfunction toRobotWrapper, following the same pattern as the existingBuildFromURDFandBuildFromSDF. It was prompted by this feature request.