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Populate joint forces through physics #952
Populate joint forces through physics #952
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Signed-off-by: Vatan Aksoy Tezer <[email protected]>
Signed-off-by: Vatan Aksoy Tezer <[email protected]>
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Just wanted to say that I'm not sure if we have consensus on whether gazebosim/gz-physics#143 (computing inverse dynamics) is how we'll obtain joint forces, so it might take some time before we can merge this PR. |
@azeey I think regardless of gazebosim/gz-physics#143 getting merged, this PR would still be necessary in any implementation for calculating joint forces. Regardless, gazebosim/gz-physics#143 seemed pretty fast to me in calculating inverse dynamics for 25 joints in a very complex scenario. I was around 95-99% real time all the time with a moderate gaming PC (i7 9750H + 1660Ti) in that simulation. Let me know if there are any tests you would like me to do to compare performances or help choose the right implementation. I strongly think joint forces would be pretty helpful for other people using the simulation, whether to debug or use them in their calculations. So, I would love help get these merged and ready do some tests / more PRs towards it. |
Closing since I believe this won't be merged in favor of other implementation that is merged in Fortress. Though as of my testing I can't read efforts / forces through joint states in fortress binaries. |
We should make sure that this works. Maybe capture it in an issue that we look into soon? |
🎉 New feature
Closes #883
Summary
Exports joint forces through physics.cc to enable force-torque sensors and efforts through joint state publisher.
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