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Parser/mjcf : Add warning and fix root joint of mjcf models #2403

Merged
merged 5 commits into from
Sep 4, 2024
Merged

Parser/mjcf : Add warning and fix root joint of mjcf models #2403

merged 5 commits into from
Sep 4, 2024

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MegMll
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@MegMll MegMll commented Sep 4, 2024

This pr aims at being a bit more flexible concerning textures in mjcf model that are not supported in pinocchio.

It also fix a small bug that was introduced in #2386.

github-actions[bot]
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👋 Hi,
This is a reminder message to assign an extra build label to this Pull Request if needed.
By default, this PR will be build with minimal build options (URDF support and Python bindings)
The possible extra labels are:

  • build_collision (build Pinocchio with coal support)
  • build_casadi (build Pinocchio with CasADi support)
  • build_autodiff (build Pinocchio with CppAD support)
  • build_codegen (build Pinocchio with CppADCodeGen 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 Pinocchio with APPLE Accelerate framework support)
  • build_all (build Pinocchio with ALL the options stated above)

Thanks.
The Pinocchio development team.

jcarpent
jcarpent requested changes Sep 4, 2024
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@MegMll Thanks for providing this fix.
Could you add a test to be sure that the bug will be catched in the future?

jcarpent
jcarpent previously approved these changes Sep 4, 2024
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Super, thanks for adding this test.

@jcarpent jcarpent merged commit acf77e8 into stack-of-tasks:devel Sep 4, 2024
18 of 20 checks passed
@MegMll MegMll deleted the topic/mjcf_warning_and_root_joint branch September 4, 2024 13:42
@Schulze18 Schulze18 mentioned this pull request Oct 24, 2024
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nim65s added a commit to nim65s/robotpkg that referenced this pull request Nov 8, 2024
@nim65s
[math/{py-,}pinocchio] Update to v3.3.0
c20fc90 
    ## [3.3.0] - 2024-11-06

    ### Added

    - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419
    - Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428
    - Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413
    - Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436
    - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402
    - Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431
    - Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296
    - Add Pixi support stack-of-tasks/pinocchio#2459

    ### Fixed
    - Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400
    - Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403
    - Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416)
    - Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425
    - Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437
    - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437
    - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296
    - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443
    - Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459
    - Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459
    - Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466

    ### Changed

    - Modernize python code base with ruff stack-of-tasks/pinocchio#2418
    - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
nim65s added a commit to nim65s/robotpkg that referenced this pull request Nov 21, 2024
@nim65s
[math/{py-,}pinocchio] Update to v3.3.0
18b8898 
    ## [3.3.0] - 2024-11-06

    ### Added

    - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419
    - Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428
    - Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413
    - Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436
    - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402
    - Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431
    - Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296
    - Add Pixi support stack-of-tasks/pinocchio#2459

    ### Fixed
    - Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400
    - Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403
    - Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416)
    - Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425
    - Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437
    - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437
    - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296
    - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443
    - Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459
    - Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459
    - Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466

    ### Changed

    - Modernize python code base with ruff stack-of-tasks/pinocchio#2418
    - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
nim65s added a commit to nim65s/robotpkg that referenced this pull request Dec 6, 2024
@nim65s
[math/{py-,}pinocchio] Update to v3.3.0
2dae48c 
    ## [3.3.0] - 2024-11-06

    ### Added

    - Default visualizer can be changed with `PINOCCHIO_VIEWER` environment variable stack-of-tasks/pinocchio#2419
    - Add more Python and C++ examples related to inverse kinematics with 3d tasks stack-of-tasks/pinocchio#2428
    - Add parsing of equality/connect tag for closed-loop chains for MJCF format stack-of-tasks/pinocchio#2413
    - Add compatibility with NumPy 2 `__array__` API stack-of-tasks/pinocchio#2436
    - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) stack-of-tasks/pinocchio#2402
    - Allow use of `pathlib.Path | str` for paths in python bindings stack-of-tasks/pinocchio#2431
    - Add Pseudo inertia and Log-cholesky parametrization stack-of-tasks/pinocchio#2296
    - Add Pixi support stack-of-tasks/pinocchio#2459

    ### Fixed
    - Fix linkage of Boost.Serialization on Windows stack-of-tasks/pinocchio#2400
    - Fix mjcf parser appending of inertias at root joint stack-of-tasks/pinocchio#2403
    - Fix unit tests with GCC 13.3 stack-of-tasks/pinocchio#2416)
    - Fix class abstract error for Rviz viewer stack-of-tasks/pinocchio#2425
    - Fix compilation issue with MSCV and C++17 stack-of-tasks/pinocchio#2437
    - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support stack-of-tasks/pinocchio#2437
    - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size stack-of-tasks/pinocchio#2296
    - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` stack-of-tasks/pinocchio#2443
    - Fix build with CppAd 2024 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 stack-of-tasks/pinocchio#2459
    - Fix `pinocchio-test-cpp-constraint-variants` uninitialized values stack-of-tasks/pinocchio#2459
    - Fix mixing library symbols between Pinocchio scalar bindings stack-of-tasks/pinocchio#2459
    - Fix bug for get{Joint,Frame}JacobianTimeVariation stack-of-tasks/pinocchio#2466

    ### Changed

    - Modernize python code base with ruff stack-of-tasks/pinocchio#2418
    - Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided stack-of-tasks/pinocchio#2402
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@MegMll @jcarpent