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Improvements to closed-loop handling #2

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@james-p-foster james-p-foster commented Feb 13, 2025 •
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This PR builds off of the LAAS PR. (Let me know if it's more prudent to set that branch as the base for this PR to see the changes I've made).

  • Introduced a notion of a list of forces by repurposing ForceDataAbstract. Now, a vector of ForceDataAbstract is stored in InteractionDataAbstract, which is a new base class for ContactDataAbstract and ImpulseDataAbstract.
  • Added a notion of a list of forces in by adding an nf (number of forces) argument to InteractionDataAbstract. This is exposed in ContactDataAbstract, so the kinematic loop can set it to 2, but for all impulses it is hard-coded to 1.
  • Pulled a lot of common fields in the contact models and impulse models into the top level ForceDataAbstract.

TODO / Questions:

  • I'm not sure how the contact-invdyn changes should work.
  • I haven't done any deprecating yet, just done all the logic changes in place to get it working.
  • I'm pretty sure that the test_contacts_loop.cpp added in the LAAS PR aren't as thorough as they can be. How can we make these tests meaningful?

LudovicDeMatteis and others added 29 commits October 8, 2024 09:16
@LudovicDeMatteis
Add Contact 6D calc and calcDiff
ea346d3
@LudovicDeMatteis
Update forces for 6D loop contacts
5a6b507
@LudovicDeMatteis
Add Baumgarte corrector for contact 6D
c3d0fb5 
This corrects the desired contact acceleration, by accouting for drift
in position and velocity
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Update copyrights to 2024
53524d2
@LudovicDeMatteis
Remove unwanted GCC diagnostic pop
081f828
@LudovicDeMatteis
Add Changelog entry
c5fdaf0
@LudovicDeMatteis
Review changes - add noalias, change operation order and fix alocation
db0183e
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Remove f_cross from bindings
30576fc
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Fixed some malloc in calc
6ea5e9e
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Update docstring and fix malloc in calcDiff
b10e29e
@LudovicDeMatteis
Add unitests for contact loop 6D
3ed2d53
@LudovicDeMatteis
Cherrypick - Fix updateForceDiff for contact loop, add missing -
1e408b1
@LudovicDeMatteis
Fix malloc in updateForce
47f1672
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Fix docstrings and data variable init
29fbf6e
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Add dummy variables to store unused data from pinocchio functions
5b883ba
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Apply review - Bindings and operation order
f9de7b3 
Remove bindings for old data and change operation order for dvel_dq
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Review - change on jXf variables to be computed and stored more effic…
27a72e3 
…iently
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Update ref to type in contact 6d loop
080a2f3
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Fix commas
caa43a9
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Most stuff working apart from some unit tests
af9f81b
@james-p-foster
Got tests passing, removed most TODOs
1bfc968
@james-p-foster
Add set_placement for kinematic loop contact
f035ae9
@james-p-foster
Revert require --> check
2304479
@james-p-foster
More kinematic loop computation simplification
d77a1ee
cmastalli added a commit that referenced this pull request Mar 23, 2025
@cmastalli
[core] Introduced casting in controls
18b9af1 
Cleaned up cast control # This is the commit message #2:

Fixed control casting
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@james-p-foster @LudovicDeMatteis