Added LWA frame convention in Contact1D #1172

skleff1994 · 2023-10-16T19:35:54Z

This PR just adds the LWA / WORLD convention in the Contact1D. I also updated the bindings & unittests accordingly (the Contact1D model was only available in LOCAL).

Note: This completes the unfinished work of #1054

cmastalli · 2023-10-19T11:02:17Z

Hi @skleff1994,

Thanks for creating again this PR!

Could you check locally that all tests pass before pushing the code?
The reason is that a few jobs are running using Github action, and we don't want to reach the limits for free accounts.

skleff1994 · 2023-10-19T21:06:37Z

Hi @cmastalli

Thank you for reviewing this PR.

Sorry about that, but I don't understand why the CI is not passing. All unittests pass locally on my machine (in Debug mode) as seen below

Test project /home/skleff/libs/crocoddyl/build_v2
      Start  1: test_states
 1/37 Test  #1: test_states ......................   Passed    2.23 sec
      Start  2: test_actuation
 2/37 Test  #2: test_actuation ...................   Passed    1.36 sec
      Start  3: test_activations
 3/37 Test  #3: test_activations .................   Passed    0.02 sec
      Start  4: test_residuals
 4/37 Test  #4: test_residuals ...................   Passed  718.71 sec
      Start  5: test_costs
 5/37 Test  #5: test_costs .......................   Passed  1193.45 sec
      Start  6: test_costs_noFF
 6/37 Test  #6: test_costs_noFF ..................   Passed    4.84 sec
      Start  7: test_costs_collision
 7/37 Test  #7: test_costs_collision .............   Passed   12.25 sec
      Start  8: test_cost_sum
 8/37 Test  #8: test_cost_sum ....................   Passed    6.30 sec
      Start  9: test_constraints
 9/37 Test  #9: test_constraints .................   Passed  259.61 sec
      Start 10: test_constraint_manager
10/37 Test #10: test_constraint_manager ..........   Passed    5.60 sec
      Start 11: test_contacts
11/37 Test #11: test_contacts ....................   Passed   79.38 sec
      Start 12: test_controls
12/37 Test #12: test_controls ....................   Passed    0.02 sec
      Start 13: test_impulses
13/37 Test #13: test_impulses ....................   Passed    3.46 sec
      Start 14: test_multiple_contacts
14/37 Test #14: test_multiple_contacts ...........   Passed    1.67 sec
      Start 15: test_multiple_impulses
15/37 Test #15: test_multiple_impulses ...........   Passed    1.93 sec
      Start 16: test_contact_costs
16/37 Test #16: test_contact_costs ...............   Passed  149.07 sec
      Start 17: test_impulse_costs
17/37 Test #17: test_impulse_costs ...............   Passed  118.53 sec
      Start 18: test_contact_constraints
18/37 Test #18: test_contact_constraints .........   Passed   38.73 sec
      Start 19: test_impulse_constraints
19/37 Test #19: test_impulse_constraints .........   Passed   17.77 sec
      Start 20: test_actions
20/37 Test #20: test_actions .....................   Passed  548.25 sec
      Start 21: test_diff_actions
21/37 Test #21: test_diff_actions ................   Passed   30.67 sec
      Start 22: test_problem
22/37 Test #22: test_problem .....................   Passed  391.49 sec
      Start 23: test_cop_support
23/37 Test #23: test_cop_support .................   Passed    0.01 sec
      Start 24: test_friction_cone
24/37 Test #24: test_friction_cone ...............   Passed    0.01 sec
      Start 25: test_wrench_cone
25/37 Test #25: test_wrench_cone .................   Passed    0.02 sec
      Start 26: test_boxqp
26/37 Test #26: test_boxqp .......................   Passed    0.02 sec
      Start 27: test_solvers
27/37 Test #27: test_solvers .....................   Passed    9.17 sec
      Start 28: test_pybinds_states
28/37 Test #28: test_pybinds_states ..............   Passed    1.55 sec
      Start 29: test_pybinds_actuations
29/37 Test #29: test_pybinds_actuations ..........   Passed    1.40 sec
      Start 30: test_pybinds_actions
30/37 Test #30: test_pybinds_actions .............   Passed    6.93 sec
      Start 31: test_pybinds_shooting
31/37 Test #31: test_pybinds_shooting ............   Passed    1.41 sec
      Start 32: test_pybinds_solvers
32/37 Test #32: test_pybinds_solvers .............   Passed    4.70 sec
      Start 33: test_pybinds_costs
33/37 Test #33: test_pybinds_costs ...............   Passed    4.22 sec
      Start 34: test_pybinds_contacts
34/37 Test #34: test_pybinds_contacts ............   Passed    1.93 sec
      Start 35: test_pybinds_impulses
35/37 Test #35: test_pybinds_impulses ............   Passed    1.88 sec
      Start 36: test_pybinds_squashing
36/37 Test #36: test_pybinds_squashing ...........   Passed    0.46 sec
      Start 37: test_pybinds_copy
37/37 Test #37: test_pybinds_copy ................   Passed    0.46 sec

100% tests passed, 0 tests failed out of 37

I compiled with the following flags on Ubuntu 20.04
cmake .. -DCMAKE_INSTALL_PREFIX=$VIRTUAL_ENV -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_COMPILER=/usr/bin/clang++ -DBUILD_WITH_MULTITHREADS=ON -DCMAKE_CXX_COMPILER_LAUNCHER=ccache

Can you please let me know how I can debug the checks that do not pass?

olivier-stasse · 2023-10-20T06:12:35Z

Dear @skleff1994 you can click on Details links related to the checks.

1/ You have formatting problems which are easily fixed by installing pre-commit on your machine. Please see: https://pre-commit.com/ This is allowing an uniform C++ coding style whatever is your favorite IDE.

2/ Checking simply on the Details you will see that for 22.04 on the LAAS CI:
https://gitlab.laas.fr/loco-3d/crocoddyl/-/jobs/215677#L2588
Your PR trigger the following error:

TypeError: No to_python (by-value) converter found for C++ type: crocoddyl::python::ContactModelAbstract_wrap

It is related to test test_deepcopy
This test does not appear in the list you gave.

cmastalli · 2023-10-20T11:57:40Z

It is related to test test_deepcopy
This test does not appear in the list you gave.

test_deepcopy is inside test_pybinds_copy.
The issue is we cannot copy abstract classes, i.e., there is an error introduced in the unit test.

cmastalli · 2023-10-20T11:58:06Z

unittest/bindings/test_copy.py

@@ -317,7 +317,13 @@ class ContactsTest(CopyModelTestCase):
    MODEL.append(crocoddyl.ContactModelMultiple(state, actuation.nu))
    COLLECTOR.append(pdata)
    MODEL.append(
-        crocoddyl.ContactModel1D(state, frame_id, 1.0, actuation.nu, np.zeros(2))
+        crocoddyl.ContactModelAbstract(state, pinocchio.LOCAL, 3, actuation.nu)


Remove this line. This should fix errors in the CI.

cmastalli

Thanks for writing a clear PR, @skleff1994

Everything looks alright to me.
However, I highly suggest extending this contact model to an arbitrary constraint axis.
What do you think? See my comment below.

bindings/python/crocoddyl/multibody/contacts/contact-1d.cpp

include/crocoddyl/multibody/contacts/contact-1d.hpp

cmastalli · 2023-10-20T12:13:55Z

include/crocoddyl/multibody/contacts/contact-1d.hxx

+  }
+  switch (type_) {
+    case pinocchio::ReferenceFrame::LOCAL:
+      d->da0_dx.row(0) = d->da0_local_dx.row(2);


Should we always assume constraints in Z?

It would be useful if this could be configured via a rotation matrix moving the z-axis.
This will require

including this information in the constructors and

writing unit tests with random rotation matrix.

Could you handle this?

Yes I agree . I can handle this

Please ping me when this is done. Thanks!

cmastalli

The summary of actions is:

Revert the proposed change in the constructor API to a vector
Include a new constructor where the rotation matrix is assumed to be the identity matrix.
Clean up some added files.
Adapt the unit-test and Python contact models as suggested in points 1 and 2.

Please ping me when you're done.
Thanks!

Testing/Temporary/CTestCostData.txt

bindings/python/crocoddyl/utils/__init__.py

include/crocoddyl/multibody/contacts/contact-1d.hpp

include/crocoddyl/multibody/contacts/contact-1d.hxx

include/crocoddyl/multibody/contacts/contact-1d.hpp

bindings/python/crocoddyl/multibody/contacts/contact-1d.cpp

skleff1994 · 2023-10-26T19:36:14Z

@cmastalli I addressed the changes you requested, however I'm not sure what happened - my 2 local commits turned into thousands of commits in this PR . Is it related to the rewriting of the git history you suggested in your comment #1172 (comment) ?

I did :
git filter-branch --index-filter 'git rm -rf --cached --ignore-unmatch Testing/Temporary/CTestCostData.txt' HEAD

I will try a git rebase

cmastalli · 2023-10-26T23:21:14Z

@cmastalli I addressed the changes you requested, however I'm not sure what happened - my 2 local commits turned into thousands of commits in this PR . Is it related to the rewriting of the git history you suggested in your comment #1172 (comment) ?

I did : git filter-branch --index-filter 'git rm -rf --cached --ignore-unmatch Testing/Temporary/CTestCostData.txt' HEAD

I will try a git rebase

I understand. Please remove this commit and then make a commit that removes the file. This should solve the problem.

skleff1994 · 2023-10-27T14:51:39Z

@cmastalli I deleted the commit but it didn't solve the issue

I will squash my commits and cherry-pick after a git reset --hard onto devel

… unittests fixed Contact1D unittests in LWA / WORLD fixed contact1d in python test remove ContactModelAbstract from copy test + changed HAL link to paper ref in contact models 1d, 3d, 6d added rotation matrix for contact1D + updated bindings + unittests accordingly fixed 1d force derivatives fixed 1D force derivatives with rotation fixed bindings and unittests for contact1d removed content of __init__.py and fixed import in contact python test

for more information, see https://pre-commit.ci

skleff1994 · 2023-10-27T15:23:48Z

Ok I believe the rebase + reset + cherry-pick fixed the issue @cmastalli

cmastalli

Thanks, @skleff1994 !

It looks like everything is alright.
Let's merge this if the CI passes.

Upstream changes: ## [2.0.2] - 2023-12-07 * Added nu, ng, and nh setters for Python bindings in loco-3d/crocoddyl#1192 * Added CHANGELOG.md in loco-3d/crocoddyl#1188 * Supported nu==0 in actuation models in loco-3d/crocoddyl#1188 * Included Python bindings for Crocoddyl exceptions by cmastalli in loco-3d/crocoddyl#1186 * Updated cmake submodule update by jcarpentier in loco-3d/crocoddyl#1186 * Fixed getters for contraints bounds by skleff1994 in loco-3d/crocoddyl#1180 * Extended solver abstract and callbacks for arbitrary solvers by cmastalli in loco-3d/crocoddyl#1179 * Fixed the check of pair_id in collision residual by ArthurH91 in loco-3d/crocoddyl#1178 * Exploited control-residual structure when computing Lu, Luu by cmastalli in loco-3d/crocoddyl#1176 * Added LWA fram convention and introduced different axis for 1d contacts by skleff1994 in loco-3d/crocoddyl#1172 * Python bindings for setting control bounds by cmastalli in loco-3d/crocoddyl#1171 * Fixed missed scalar in cost sum and activation data by cmastalli in loco-3d/crocoddyl#1165 * Added actuation unit tests by cmastalli in loco-3d/crocoddyl#1161 * Introduced method for obtaining the dimension of floating-bases by cmastalli in loco-3d/crocoddyl#1160 * Fixed set_reference in state residual by cmastalli in loco-3d/crocoddyl#1158 * Enabled CONDA CI jobs with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1156 * Added other CI jobs by cmastalli in loco-3d/crocoddyl#1152 * Fixed compiltation issue when building with CppADCodeGen by cmastalli in loco-3d/crocoddyl#1151 * Fixed include order used in frames.cpp by ManifoldFR in loco-3d/crocoddyl#1150

skleff1994 force-pushed the skleff/contact1d branch from 63a3296 to 1a8f2ac Compare October 17, 2023 16:37

cmastalli self-requested a review October 19, 2023 11:02

cmastalli reviewed Oct 20, 2023

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skleff1994 force-pushed the skleff/contact1d branch 2 times, most recently from 4165ad0 to 8cdecdb Compare October 25, 2023 23:10

cmastalli requested changes Oct 26, 2023

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skleff1994 force-pushed the skleff/contact1d branch from d3cfbaa to fc4c5e7 Compare October 26, 2023 19:29

skleff1994 force-pushed the skleff/contact1d branch from fc4c5e7 to ad3b0b5 Compare October 27, 2023 14:48

skleff1994 force-pushed the skleff/contact1d branch from ad3b0b5 to 38a6e59 Compare October 27, 2023 15:21

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cmastalli approved these changes Oct 27, 2023

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cmastalli merged commit 06feac6 into loco-3d:devel Oct 28, 2023
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Added LWA frame convention in Contact1D #1172

Added LWA frame convention in Contact1D #1172

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Added LWA frame convention in Contact1D #1172

Added LWA frame convention in Contact1D #1172

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