Add parametrization w.r.t Hardware Parameters #49

CarlottaSartore · 2023-11-07T15:28:46Z

With this PR the changes done in the tag AdamWithHardwareParameters have been ported into main .

@Giulero I have tried to be compliant with the refactor you did in #37, but please let me know if you would prefer a different code organization :)

Currently the CI are failing due to #icub-tech-iit/ergocub-gazebo-simulations#49 but in my machine everything is working fine, I will update the CI as soon as we find a way to solve the issue.

C.C. @S-Dafarra @lrapetti @traversaro

…tric

…riable names

… implement change in representation in parametrix

CarlottaSartore · 2023-11-07T16:17:39Z

Solved the CI in 5bec824

I added a workaround to avoid reading the line of the stickbot urdf declaring the XML encoding, this was an outcome of a conversation done in icub-tech-iit/ergocub-gazebo-simulations#49 (comment)

traversaro · 2023-11-07T16:55:10Z

I added a workaround to avoid reading the line of the stickbot urdf declaring the XML encoding, this was an outcome of a conversation done in icub-tech-iit/ergocub-gazebo-simulations#49 (comment)

Can't we add the hack directly in https://github.com/CarlottaSartore/ADAM/blob/3ad9e5d64a3469856db22b8f7e3f35422b40f0db/src/adam/core/urdf_tree.py#L45 ? Otherwise ADAM will continue to not work for stickbot or similar models.

CarlottaSartore · 2023-11-07T17:08:42Z

Can't we add the hack directly in https://github.com/CarlottaSartore/ADAM/blob/3ad9e5d64a3469856db22b8f7e3f35422b40f0db/src/adam/core/urdf_tree.py#L45 ? Otherwise ADAM will continue to not work for stickbot or similar models.

For me, it is fine, if @Giulero agrees I can add it directly to this PR

traversaro · 2023-11-07T17:24:44Z

Can't we add the hack directly in https://github.com/CarlottaSartore/ADAM/blob/3ad9e5d64a3469856db22b8f7e3f35422b40f0db/src/adam/core/urdf_tree.py#L45 ? Otherwise ADAM will continue to not work for stickbot or similar models.

For me, it is fine, if @Giulero agrees I can add it directly to this PR

By the way, a compact way to remove the header if present seems to be:

output_xml_string = ET.tostring(ET.fromstring(input_xml_string), xml_declaration=False)

This is a bit more robust as the xml declaration could also have a non-UTF-8 encoding, or also have other attributes such as standalone (see https://www.tutorialspoint.com/xml/xml_declaration.htm).

CarlottaSartore · 2023-11-09T14:23:11Z

About this

By the way, a compact way to remove the header if present seems to be:

output_xml_string = ET.tostring(ET.fromstring(input_xml_string), xml_declaration=False)
This is a bit more robust as the xml declaration could also have a non-UTF-8 encoding, or also have other attributes such as standalone (see https://www.tutorialspoint.com/xml/xml_declaration.htm).

Thanks to ros/urdf_parser_py#83 (comment) we should have it fixed now!

@Giulero I have implemented the refactor we talked f2f and the CI passed !

traversaro · 2023-11-09T15:00:57Z

Thanks to ros/urdf_parser_py#83 (comment) we should have it fixed now!

Sorry, I missed something. How it is possible that that fixed the problem if it still needs to be merged and released?

CarlottaSartore · 2023-11-09T15:31:44Z

Sorry, I missed something. How it is possible that that fixed the problem if it still needs to be merged and released?
Yes, but once it is merged it will be fix!

traversaro · 2023-11-09T15:40:41Z

Sorry, I missed something. How it is possible that that fixed the problem if it still needs to be merged and released?
Yes, but once it is merged it will be fix!

Sure, but how why the CI is green now?

CarlottaSartore · 2023-11-09T16:17:41Z

Sure, but how why the CI is green now?

In 5bec824 I have modified the CI to remove the encoding of the stickbot, thus the CI runs, see

https://github.com/CarlottaSartore/ADAM/blob/5bdcf9c3c575dd6d15f6265b5c967a7e8bf38e3a/tests/parametric/test_CasADi_computations_parametric.py#L25-L32

But the problem is not solved in adam itself

traversaro · 2023-11-09T17:25:04Z

Sure, but how why the CI is green now?

In 5bec824 I have modified the CI to remove the encoding of the stickbot, thus the CI runs, see

https://github.com/CarlottaSartore/ADAM/blob/5bdcf9c3c575dd6d15f6265b5c967a7e8bf38e3a/tests/parametric/test_CasADi_computations_parametric.py#L25-L32

But the problem is not solved in adam itself

Ahh so we have still the workaround, I missed that.

Giulero

Just few comments!

src/adam/casadi/casadi_like.py

Giulero · 2023-12-05T16:35:16Z

src/adam/core/spatial_math.py

+        T[0, 3] = xyz[0]
+        T[1, 3] = xyz[1]
+        T[2, 3] = xyz[2]


Can you remember me why the assignment T[:3, 3] = xyz does not work?
It's more of a log for the feature :)

The issue was that xyz contains both symbolic and not symbolic elements if the robot model is parametric, therefore it was complaining due to different types in xyz !

Giulero · 2023-12-05T16:35:42Z

src/adam/core/spatial_math.py

@@ -381,6 +400,33 @@ def spatial_inertia(
        IO[:3, :3] = self.factory.eye(3) * mass
        return IO

+    def spatial_inertial_with_parameter(self, I, mass, c, rpy):


parameter or parameters?

Done in ab08cf9

Giulero · 2023-12-05T16:36:49Z

src/adam/parametric/casadi/computations_parametric.py

+            root_link (str, optional): the first link. Defaults to 'root_link'.
+        """
+        math = SpatialMath()
+        n_param_link = len(links_name_list)


link or links?

Done in ab08cf9

src/adam/parametric/jax/computations_parametric.py

tests/parametric/test_CasADi_computations_parametric.py

Co-authored-by: Giuseppe L'Erario <[email protected]>

CarlottaSartore · 2023-12-05T17:16:20Z

@Giulero I should have resolved all your comments, however I see the CI fails, namely the one related to pytorch and Jax

Giulero · 2023-12-05T17:26:31Z

Thanks @CarlottaSartore! Yeah the CI fails since there are some issues related to the new default Python version in conda.
I'm opening an issue for this and solve it in a different PR.

Giulero · 2023-12-06T09:08:50Z

Thanks @CarlottaSartore ! I guess we can merge :)
There is just a conflict with the PR #53. Solving it!

CarlottaSartore added 15 commits November 7, 2023 10:29

added model parametric and first version of casadi computation parame…

294d4c4

…tric

fix import error, fix missing methods

0686bed

fix non ashable problem

ed89e51

fix computations for casadi

43d2711

working with casadi but for the head frame

c5560ed

Added computations parametric for numpy, jax, pythorch

e584294

no regression tests working for all backend

cb2eec7

fix tests jax with hardware parameters

6386f7d

tests for computations with hardware parameters and formatted

83fd338

remove useless method, add first documentation

4b1263f

Added documentation for parametric kyndyn classes, refactor of the va…

8f60f7c

…riable names

rebase on top of main, implement jdotnu for parametric, update tests,…

164de58

… implement change in representation in parametrix

update CI

8bf4fda

fix urdf parser py version

123462d

remove fix urdf parser py version

0903bd1

CarlottaSartore requested a review from Giulero November 7, 2023 15:28

CarlottaSartore self-assigned this Nov 7, 2023

remove encoding from stickbot for tests with hardware parameters

5bec824

refactor of parmetric implementation

5bdcf9c

Giulero approved these changes Dec 5, 2023

View reviewed changes

CarlottaSartore and others added 2 commits December 5, 2023 18:02

Update src/adam/parametric/jax/computations_parametric.py

bb5a963

Co-authored-by: Giuseppe L'Erario <[email protected]>

fix typos and copy paste leftovers

ab08cf9

Merge branch 'main' into model_parametric

7b0b3aa

Giulero merged commit 115a87a into ami-iit:main Dec 6, 2023
6 of 7 checks passed

Giulero mentioned this pull request Dec 6, 2023

Add gitpython into win ci #55

Merged

Giulero mentioned this pull request Dec 13, 2023

Question: Differentiability w.r.t what exactly? #58

Open

CarlottaSartore mentioned this pull request Feb 29, 2024

Failed to load stickBot model in the parametric KinDynComputations. #71

Closed

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Add parametrization w.r.t Hardware Parameters #49

Add parametrization w.r.t Hardware Parameters #49

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Add parametrization w.r.t Hardware Parameters #49

Add parametrization w.r.t Hardware Parameters #49

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