Support prismatic joints

ami-iit / adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

https://adam-docs.readthedocs.io/en/latest/

BSD 3-Clause "New" or "Revised" License

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Closed traversaro closed 2 years ago

traversaro commented 2 years ago

For the goals of one of our internal projects, it would be convenient if ADAM supported prismatic joints.

cc @Giulero

DanielePucci commented 2 years ago

CC @CarlottaSartore

Giulero commented 2 years ago

It shouldn't be difficult. I'll do it!

CarlottaSartore commented 2 years ago

In the past, I worked on it (see for instance https://github.com/ami-iit/ADAM/compare/main...CarlottaSartore:ADAM:add_joint_type_param), I can try to make a minimum invasive PR only with the modification for supporting the prismatic joint.

For the time being, I would disregard the hardware parameters since it brings with it the problem of the modality in which the joint origin should be moved (see https://github.com/ami-iit/element_hardware-intelligence/issues/72)

traversaro commented 2 years ago

Thanks @Giulero @CarlottaSartore ! I think @VenusPasandi was also interested in working on this, so probably you can coordinate.

Giulero commented 2 years ago

Created a PR for this. I used the code @CarlottaSartore implemented in a previous PR <3

I also might need an urdf of a robot with prismatic joints.