MultibodyTree + pydrake: Binding feature requests

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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MultibodyTree + pydrake: Binding feature requests #9311

Closed EricCousineau-TRI closed 4 years ago

EricCousineau-TRI commented 6 years ago

Suggested order of operations:

[x] Load an SDF and query basic topology from MultibodyPlant (#9281)
- [x] Weld joints (#9345)
[x] Simulate + Visualize a MultibodyPlant (#9322)
[x] RigidTransform (#9318)
[x] Compute kinematics for MultibodyTree / MultibodyPlant
- [x] Simple transforms + geometric Jacobian (#9346)
[x] State vector indexing from #9388 and #9383
[x] Spatial Velocities
[x] Compute dynamics for MultibodyTree / MultibodyPlant
[x] Multibody IK - @hongkai-dai
[x] All types of bodies, mobilizers. joints, joint actuators, and force elements
[x] Construct a MultibodyPlant / MultibodyTree programmatically

\cc @amcastro-tri

pangtao22 commented 6 years ago

In Pset1 of 6.881 (to be released on Sep 11), we are using the following RBT functions to control the robot and in testing:

rbt.B
rbt.doKinematics
rbt.CalcBodyPoseInWorldFrame
rbt.inverseDynamics

Not used in pset1 but could be used for future psets:

rbt.relativeTwist
rbt.geometricJacobian
rbt.geometricJacobianDotTimesV

Thanks!

EricCousineau-TRI commented 6 years ago

Per f2f with @amcastro-tri, for the actuation matrix / projection matrix B, we may need some sugar methods to obtain the projection matrices. @hongkai-dai Can I ask if you'll be submitting a PR for getting things such as the state and Jacobians in a specified order? If so, I can then build on top of that PR to get B.

For the above, I'll try to reflect some of the computations that are done in multibody_tree_test.cc.

hongkai-dai commented 6 years ago

@EricCousineau-TRI I do not think I will send a PR on getting things like state and Jacobians. By discussing with @amcastro-tri , I will PR a method to get the bounds on the generalized positions.

tri-ltyyu commented 6 years ago

Check with @EricCousineau-TRI on status

EricCousineau-TRI commented 6 years ago

Updated checkboxes; we can consider shifting the remaining bits that are not immediately necessary to separate issues.

EricCousineau-TRI commented 4 years ago

AFAIK, with contributions from @gizatt, @mpetersen94, and other Drake authors, we've generally covered this list. Closing for now.