Core calculator #1

enrico391 · 2025-06-05T11:02:12Z

Closes #3

dynamic_payload_analysis_core/core.py

saikishor · 2025-06-05T13:53:33Z

dynamic_payload_analysis_core/core.py

+        if urdf_path is None and robot_description is None:
+            raise ValueError("URDF path or robot description is required but was not provided")
+
+        if urdf_path is not None and robot_description is not None:
+            raise ValueError("Only one of URDF path or robot description should be provided, not both")
+
+        # Load the robot model from URDF or XML
+        if urdf_path is not None:
+            self.model = pin.buildModelFromUrdf(urdf_path)
+
+        if robot_description is not None:
+            self.model = pin.buildModelFromXML(robot_description)
+


Do we really have a need to support both urdf paths and the robot description?

I made it because if we want to use the library in a non ROS environment we can parse the URDF file. Maybe there is a method to convert the xml or the urdf in the same format , I'll check it

Check it and let me know. What will be the type of both the types? both strings, one is XML or etc?. Let me know

robot_description is a string contains all the urdf description, instead urdf_path is the URL of the file .urdf
Maybe I could get the same string provided by the robot_description in the case of urdf path using read file and save the string inside the file. Like this:

with open("my_robot.urdf", "r") as file:
robot_description = file.read()

but I don't like so much this solution

Or in a easier way I could leave only the robot_description as a input ( string provided by robot_description) and if we will use the library with urdf path we will convert it in a string as the method above

I thought about another method and I saw that you can specify multiply type hints in the input, so I thougth that I can specify the type hint as " str | Path " and check when the input is str and I'll use buildFromXML, instead if the input is a path I'll use the other method.

Could it be a good approach ?

Sure, check if you can have multiple constructors with different single argument types. This way it is better for you

dynamic_payload_analysis_core/core.py

Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

saikishor · 2025-06-05T16:48:19Z

dynamic_payload_analysis_core/core.py

+        if urdf_path is None and robot_description is None:
+            raise ValueError("URDF path or robot description is required but was not provided")
+
+        if urdf_path is not None and robot_description is not None:
+            raise ValueError("Only one of URDF path or robot description should be provided, not both")
+
+        # Load the robot model from URDF or XML
+        if urdf_path is not None:
+            self.model = pin.buildModelFromUrdf(urdf_path)
+
+        if robot_description is not None:
+            self.model = pin.buildModelFromXML(robot_description)
+


Check it and let me know. What will be the type of both the types? both strings, one is XML or etc?. Let me know

saikishor · 2025-06-05T16:51:18Z

dynamic_payload_analysis_core/core.py

+        if extForce is None:
+            tau = pin.rnea(self.model, self.data, q, qdot, qddot)
+
+        if extForce is not None:
+            tau = pin.rnea(self.model, self.data, q, qdot, qddot, extForce)


https://github.com/stack-of-tasks/pinocchio/blob/master/bindings/python/algorithm/expose-rnea.cpp#L36-L47

I see it is a list of extForces right?, this would be easier with the type hinting

Suggested change

if extForce is None:

tau = pin.rnea(self.model, self.data, q, qdot, qddot)

if extForce is not None:

tau = pin.rnea(self.model, self.data, q, qdot, qddot, extForce)

if extForce :

tau = pin.rnea(self.model, self.data, q, qdot, qddot, extForce)

else:

tau = pin.rnea(self.model, self.data, q, qdot, qddot)

yes it is the vector provided by create_ext_force

saikishor · 2025-06-05T16:52:26Z

dynamic_payload_analysis_core/core.py

+        joint_id = self.model.frames[frame_id].parentJoint
+
+        # force in the world frame
+        ext_force_world = pin.Force(np.array([0.0, 0.0, mass * -9.81]), np.array([0.0, 0.0, 0.0]))  # force in z axis of the world frame


Can you add link to the force convention that it is in the global frame not the local frame? Missing this information in the documentation

I change the convention of the force after when I use:
fext[joint_id] = self.data.oMi[joint_id].actInv(ext_force_world)

I watched this example : https://github.com/stack-of-tasks/pinocchio/blob/master/examples/static-contact-dynamics.py

Ok then just add that to the documentation that it is a local reference

dynamic_payload_analysis_core/core.py

saikishor · 2025-06-05T16:56:23Z

dynamic_payload_analysis_core/core.py

+    def get_random_configuration(self):
+        """
+        Get a random configuration for configuration and velocity vectors.
+        :return: Random configuration vector.


Suggested change

:return: Random configuration vector.

:return: Random configuration vector.

:todo: Generate configuration within the joint limits

dynamic_payload_analysis_core/core.py

Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

…ynamic_payload_analysis into enrico_calculator

saikishor

Just few things. Rest looks good to me

dynamic_payload_analysis_core/core.py

saikishor · 2025-06-09T14:33:09Z

dynamic_payload_analysis_core/core.py

+    def get_random_configuration(self):
+        """
+        Get a random configuration for configuration and velocity vectors.
+        :return: Random configuration vector.


Suggested change

:return: Random configuration vector.

:return: Random configuration vector.

:todo: Generate configuration within the joint limits

commit small changes in mass matrix name and function method Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

saikishor

Hello!

I don't see the package creation as in : https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html

You will need to do that so, I can merge it

This reverts commit e752673. revert commit for ros package

saikishor

Not perfect but will do for the first version

enrico391 added 3 commits June 5, 2025 13:01

First commit

48e4362

Fixes #3: rename package in dynamic_payload_analysis_core

b2658df

Remove old folder package

ec696e6

saikishor requested changes Jun 5, 2025

View reviewed changes

enrico391 and others added 2 commits June 5, 2025 16:52

Apply suggestions from code review

8dd2a5e

Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

Resolve comments review

b97dd79

saikishor requested changes Jun 5, 2025

View reviewed changes

enrico391 and others added 13 commits June 5, 2025 19:51

Apply suggestions from code review

7606097

Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

change urdf_path in the init for the moment

639e98f

Merge branch 'enrico_calculator' of https://github.com/pal-robotics/d…

bac46db

…ynamic_payload_analysis into enrico_calculator

Resolve random values inside limits

53611a0

Resolve random values within velocity limits

3ba0a14

Add return type values in the function

7086220

Add return type to the library functions

8d35870

Add single input for constructor with multiple types

598c2ae

Add comments for force orientation

c27e38e

Add type hints

f19c583

Add some extra functions to the package

cb51265

Small fix and add some useful function

afcaf76

Small change in effort limits check

da0236b

saikishor requested changes Jun 9, 2025

View reviewed changes

Apply suggestions from code review

8669dbd

commit small changes in mass matrix name and function method Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

saikishor approved these changes Jun 9, 2025

View reviewed changes

saikishor requested changes Jun 9, 2025

View reviewed changes

enrico391 added 3 commits June 9, 2025 17:33

Add ros package

e752673

Revert "Add ros package"

05c57ce

This reverts commit e752673. revert commit for ros package

Transform package in ros package

813008b

saikishor approved these changes Jun 9, 2025

View reviewed changes

saikishor merged commit 73bc4c0 into master Jun 9, 2025

saikishor deleted the enrico_calculator branch June 9, 2025 16:08

	:return: Random configuration vector.
	:return: Random configuration vector.
	:todo: Generate configuration within the joint limits

Core calculator #1

Core calculator #1

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enrico391 commented Jun 5, 2025 • edited by saikishor Loading Uh oh! There was an error while loading. Please reload this page.

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saikishor Jun 5, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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enrico391 commented Jun 5, 2025 •

edited by saikishor

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saikishor Jun 5, 2025 •

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