Implement simulator block to handle closed loop dynamics

ami-iit / matlab-whole-body-simulator

A robot simulator running on simulink

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

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Implement simulator block to handle closed loop dynamics #54

Closed traversaro closed 2 years ago

traversaro commented 3 years ago

@VenusPasandi is working on an improvement for the simulation of mechanical systems with closed loop dynamics.

VenusPasandi commented 3 years ago

yes, I am working on this in the branch feature/constrainedDynamics. I will be happy to hear suggestions for improving it.

@nunoguedelha @Giulero

VenusPasandi commented 3 years ago

I implemented the simulator block for the constrained dynamics which has two closed chain kinematics in d27c4a077706011f7b4523581b76a70bfbf62630. I need still to do some modifications:

[x] Provide the possibility of the having any number of the closed chains (#57)
[ ] Properly resolve the issue of dependent constraints for the closed chain kinematic,
[ ] Properly resolve the issue of the inversion of the rank-deficient matrices,
[x] Clean the code
[ ] Prepare a wiki for the theory

nunoguedelha commented 3 years ago

Hi @VenusPasandi , I haven't take a look a this yet, I'll try to do it ASAP.

VenusPasandi commented 2 years ago

I opened #64 to merge the simulator block for the closed-chain robots in to the master though we haven't addressed all the checkpoints in https://github.com/ami-iit/matlab-whole-body-simulator/issues/54#issuecomment-967248927. I think the remaining checkpoints are minor fixes that we can resolve them later.

VenusPasandi commented 2 years ago

As we merged #64, I think the main objective of this issue is provided. So, I close this issue and open dedicated issues for addressing the remaining check points in https://github.com/ami-iit/matlab-whole-body-simulator/issues/54#issuecomment-967248927

nunoguedelha commented 2 years ago

Ciao @VenusPasandi , I saw you already opened one or a few issues tracking all the remaining points listed in https://github.com/ami-iit/matlab-whole-body-simulator/issues/54#issuecomment-967248927. I suggest you open an Epic to group those points, since the issue here is now closed.

VenusPasandi commented 2 years ago

Ciao @VenusPasandi , I saw you already opened one or a few issues tracking all the remaining points listed in #54 (comment). I suggest you open an Epic to group those points, since the issue here is now closed.

Ciao @nunoguedelha. Actually, the remaining points are not related to the closed chain dynamics but are general points. because of that I didn't group them. I am not sure if creating an Epic for all the improvements of the dynamics blocks is really usefull.

nunoguedelha commented 2 years ago

I see, indeed there are only two remaining and directly related to the closed loop. Never mind.