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Implement parsing of coupler constraints #17663

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amcastro-tri opened this issue Aug 1, 2022 · 5 comments
Closed

Implement parsing of coupler constraints #17663

amcastro-tri opened this issue Aug 1, 2022 · 5 comments
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@rpoyner-tri
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component: multibody parsing Loading models into MultibodyPlant type: feature request

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@amcastro-tri
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#17639 introduces coupler constraints between two single-dof joints. This is particularly useful to model things like your parallel jaw gripper where you'd like both finger to move in opposition.

As pointed out by @EricCousineau-TRI, we might want to have parsing for this in a not very far future.
@EricCousineau-TRI
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\cc @scpeters @azeey regarding today's discussion about SDFormat's mimic feature

@RussTedrake
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FYI -- I received another feature request for parsing the mimic tag today.

@RussTedrake
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A few relevant links:

@RussTedrake RussTedrake mentioned this issue Feb 2, 2023
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RussTedrake added a commit to RussTedrake/drake that referenced this issue Feb 2, 2023
@RussTedrake
[parsing] Add support for URDF mimic element.
6b093b6 
Implements parsing support for the `<mimic>` element in URDF. Towards RobotLocomotion#17663.

Users could have been using existing URDF models in Drake with mimic
tags that were ignored. Now those models will be simulated differently
if they are being simulated with DiscreteContactSolver::kSap.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Feb 3, 2023
@RussTedrake
[parsing] Add support for URDF mimic element.
364fde8 
Implements parsing support for the `<mimic>` element in URDF. Towards RobotLocomotion#17663.

Users could have been using existing URDF models in Drake with mimic
tags that were ignored. Now those models will be simulated differently
if they are being simulated with DiscreteContactSolver::kSap.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Feb 3, 2023
@RussTedrake
[parsing] Add support for URDF mimic element.
508883f 
Implements parsing support for the `<mimic>` element in URDF. Towards RobotLocomotion#17663.

Users could have been using existing URDF models in Drake with mimic
tags that were ignored. Now those models will be simulated differently
if they are being simulated with DiscreteContactSolver::kSap.
@jwnimmer-tri jwnimmer-tri mentioned this issue Mar 1, 2023
Open
@RussTedrake RussTedrake mentioned this issue Mar 19, 2023
Open
@jwnimmer-tri jwnimmer-tri changed the title Implement parsing of coupler constraints. Implement parsing of coupler constraints May 10, 2023
@amcastro-tri
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@RussTedrake implemented URDF parsing in #18728.
@joemasterjohn implemented SDF parsing in #20503.

@scpeters
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cross-posting from #20503 (comment)

sorry I didn't chime in sooner (I just noticed #20503 after it was merged), but you might consider using the //joint/axis/mimic / //joint/axis2/mimic syntax that has recently been added to SDFormat 1.11 in libsdformat14:

@scpeters scpeters mentioned this issue Dec 21, 2023
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@scpeters @RussTedrake @rpoyner-tri @amcastro-tri @EricCousineau-TRI