Feature/jr add robot - Githubissues

yetongumich commented 3 years ago

Added jumping robot simulator with tests. Includes visualization and plots.

Here are the plots for an example jumping trajectory: Figure_1

Changes include:

Modify some robot configurations in jumping_robot.py, and enable creating robot with different phases.
Add jr_simulator.py which includes the simulator class for jumping robot
Addjr_values.py which includes values manipulation utilities (creating initial values)
In jr_visualizer.py, include the function to visualize trajectory and make plots
In actuation_graph_builder.py, further split out the part that computes mass flow.
Add some utility functions for some gtsam methods that are not wrapped in Python. (e.g. values.at() method)
In PneumaticFactors.h and PneumaticActuatorFactors.h, wrap function that computes actuator volume and mass flow rate, as they are used in jr_values.py
In PneumaticActuatorFactors.h, revised ForceBalanceFactor (this was not used in the previous C++ code, as the previous C++ code uses an expression factor, which is hard to wrap in Python), and add corresponding tests.

dellaert commented 3 years ago

Very nice PR comment!

yetongumich commented 3 years ago

Revise by comments, and create new issue (I'll create another PR to further split the jr_simulator.py before end of April). Merging.

borglab / GTDynamics