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bullet-featherstone: Fix bounding box for collisions with pose offset #647

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merged 3 commits into from
Jun 5, 2024
Merged

bullet-featherstone: Fix bounding box for collisions with pose offset #647

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4f35c1e
Fix bounding box for collisions with pose offset
iche033 Jun 3, 2024
5c6ec0f
add link frame semantics pose test
iche033 Jun 4, 2024
84054fa
update test
iche033 Jun 4, 2024
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103 changes: 54 additions & 49 deletions bullet-featherstone/src/KinematicsFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -22,30 +22,40 @@
namespace physics {
namespace bullet_featherstone {


FrameData3d getNonBaseLinkFrameData(const ModelInfo *_modelInfo,
const LinkInfo *_linkInfo)
{
const auto index = _linkInfo->indexInModel.value();
FrameData3d data;
data.pose = GetWorldTransformOfLink(*_modelInfo, *_linkInfo);
const auto &link = _modelInfo->body->getLink(index);
data.linearVelocity = convert(link.m_absFrameTotVelocity.getLinear());
data.angularVelocity = convert(link.m_absFrameTotVelocity.getAngular());
return data;
}

/////////////////////////////////////////////////
FrameData3d KinematicsFeatures::FrameDataRelativeToWorld(
const FrameID &_id) const
{
const auto linkIt = this->links.find(_id.ID());
bool isModel = false;
bool isCollision = false;
const ModelInfo *model = nullptr;
Eigen::Isometry3d collisionPoseOffset = Eigen::Isometry3d();

const auto linkIt = this->links.find(_id.ID());
if (linkIt != this->links.end())
{
const auto &linkInfo = linkIt->second;
const auto indexOpt = linkInfo->indexInModel;
model = this->ReferenceInterface<ModelInfo>(linkInfo->model);

if (indexOpt.has_value())
if (linkInfo->indexInModel.has_value())
{
const auto index = *indexOpt;
FrameData data;
data.pose = GetWorldTransformOfLink(*model, *linkInfo);
const auto &link = model->body->getLink(index);
data.linearVelocity = convert(link.m_absFrameTotVelocity.getLinear());
data.angularVelocity = convert(link.m_absFrameTotVelocity.getAngular());
return data;
return getNonBaseLinkFrameData(model, linkInfo.get());
}

// If indexOpt is nullopt then the link is the base link which will be
// If indexInModel is nullopt then the link is the base link which will be
// calculated below.
}
else
Expand All @@ -59,60 +69,55 @@
if (linkIt2 != this->links.end())
{
const auto &linkInfo2 = linkIt2->second;
const auto indexOpt2 = linkInfo2->indexInModel;
model = this->ReferenceInterface<ModelInfo>(linkInfo2->model);

if (indexOpt2.has_value())
if (linkInfo2->indexInModel.has_value())
{
const auto index2 = *indexOpt2;
FrameData data;
data.pose = GetWorldTransformOfLink(*model, *linkInfo2);
const auto &link = model->body->getLink(index2);
data.linearVelocity = convert(
link.m_absFrameTotVelocity.getLinear());
data.angularVelocity = convert(
link.m_absFrameTotVelocity.getAngular());
return data;
return getNonBaseLinkFrameData(model, linkInfo2.get());
}
}
}

auto collisionIt = this->collisions.find(_id.ID());
if (collisionIt != this->collisions.end())
else
{
const auto &collisionInfo = collisionIt->second;

const auto linkIt2 = this->links.find(collisionInfo->link);
if (linkIt2 != this->links.end())
auto collisionIt = this->collisions.find(_id.ID());
if (collisionIt != this->collisions.end())
{
const auto &linkInfo2 = linkIt2->second;
const auto indexOpt2 = linkInfo2->indexInModel;
model = this->ReferenceInterface<ModelInfo>(linkInfo2->model);
isCollision = true;
const auto &collisionInfo = collisionIt->second;

if (indexOpt2.has_value())
const auto linkIt2 = this->links.find(collisionInfo->link);
if (linkIt2 != this->links.end())
{
const auto index2 = *indexOpt2;
FrameData data;
data.pose = GetWorldTransformOfLink(*model, *linkInfo2);
const auto &link = model->body->getLink(index2);
data.linearVelocity = convert(
link.m_absFrameTotVelocity.getLinear());
data.angularVelocity = convert(
link.m_absFrameTotVelocity.getAngular());
return data;
const auto &linkInfo2 = linkIt2->second;
model = this->ReferenceInterface<ModelInfo>(linkInfo2->model);
collisionPoseOffset = collisionInfo->linkToCollision;
if (linkInfo2->indexInModel.has_value())
{
auto data = getNonBaseLinkFrameData(model, linkInfo2.get());
data.pose = data.pose * collisionPoseOffset;
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return data;

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}
}
}
else
{
auto modelIt = this->models.find(_id.ID());
if (modelIt != this->models.end())
{
model = modelIt->second.get();
isModel = true;
}
}
}

if (!model || model->body == nullptr)
model = this->FrameInterface<ModelInfo>(_id);
}

FrameData data;
if(model && model->body)
if (model && model->body)
{
data.pose = convert(model->body->getBaseWorldTransform())
* model->baseInertiaToLinkFrame;
data.pose = convert(model->body->getBaseWorldTransform());
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Don't we have to account for

  • The offset from the model to the base link, i.e, the links pose in SDF? Do we have a test that covers this?
  • The offset of the link frame to the center of mass? I thought that's what model->baseInertiaToLinkFrame was there for .

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@iche033 iche033 Jun 4, 2024 •
edited
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This line computes the pose for the model. The next 2 lines takes into account the pose of the link (and inertia offset if any) which uses model->baseInertiaToLinkFrame. I think that's correct? I added a test in 5c6ec0f that checks the frame data for a link and a collision, both of which have a pose offset.

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expanded test to cover both base and non-base links. 84054fa

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It looks like this test is not testing model frame semantics at all. Fortunately, we currently don't use it in gz-sim, but it would be good to fix (not in this PR). I've added a failing test in the azeey/kinematic_feature_failing_test branch. Evidently, dartsim fails the test as well.

if (!isModel)
data.pose = data.pose * model->baseInertiaToLinkFrame;
if (isCollision)
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data.pose = data.pose * collisionPoseOffset;
data.linearVelocity = convert(model->body->getBaseVel());
data.angularVelocity = convert(model->body->getBaseOmega());
}
Expand Down
3 changes: 2 additions & 1 deletion bullet-featherstone/src/KinematicsFeatures.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,8 @@ namespace bullet_featherstone {
struct KinematicsFeatureList : gz::physics::FeatureList<
LinkFrameSemantics,
ModelFrameSemantics,
FreeGroupFrameSemantics
FreeGroupFrameSemantics,
ShapeFrameSemantics
> { };

class KinematicsFeatures :
Expand Down
2 changes: 0 additions & 2 deletions bullet-featherstone/src/ShapeFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,6 @@ AlignedBox3d ShapeFeatures::GetShapeAxisAlignedBoundingBox(
t.setIdentity();
btVector3 minBox(0, 0, 0);
btVector3 maxBox(0, 0, 0);
btVector3 minBox2(0, 0, 0);
btVector3 maxBox2(0, 0, 0);
collider->collider->getAabb(t, minBox, maxBox);
return math::eigen3::convert(math::AxisAlignedBox(
math::Vector3d(minBox[0], minBox[1], minBox[2]),
Expand Down
22 changes: 14 additions & 8 deletions test/common_test/link_features.cc
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Expand Up @@ -293,14 +293,26 @@ TYPED_TEST(LinkFeaturesTest, JointSetCommand)
}
}

TYPED_TEST(LinkFeaturesTest, AxisAlignedBoundingBox)
using LinkBoundingBoxFeaturesList = gz::physics::FeatureList<
gz::physics::ForwardStep,
gz::physics::sdf::ConstructSdfWorld,
gz::physics::GetEntities,
gz::physics::GetLinkBoundingBox,
gz::physics::GetModelBoundingBox
>;

using LinkBoundingBoxFeaturesTestTypes =
LinkFeaturesTest<LinkBoundingBoxFeaturesList>;

TEST_F(LinkBoundingBoxFeaturesTestTypes, AxisAlignedBoundingBox)
{
for (const std::string &name : this->pluginNames)
{
std::cout << "Testing plugin: " << name << std::endl;
gz::plugin::PluginPtr plugin = this->loader.Instantiate(name);

auto engine = gz::physics::RequestEngine3d<LinkFeaturesList>::From(plugin);
auto engine =
gz::physics::RequestEngine3d<LinkBoundingBoxFeaturesList>::From(plugin);
ASSERT_NE(nullptr, engine);

sdf::Root root;
Expand All @@ -313,9 +325,6 @@ TYPED_TEST(LinkFeaturesTest, AxisAlignedBoundingBox)
auto world = engine->ConstructWorld(*root.WorldByIndex(0));
EXPECT_NE(nullptr, world);

EXPECT_NE(nullptr, world);
world->SetGravity(Eigen::Vector3d{0, 0, -9.8});

auto model = world->GetModel("double_pendulum_with_base");
auto baseLink = model->GetLink("base");
auto bbox = baseLink->GetAxisAlignedBoundingBox();
Expand Down Expand Up @@ -364,9 +373,6 @@ TYPED_TEST(LinkFeaturesTest, ModelAxisAlignedBoundingBox)
auto world = engine->ConstructWorld(*root.WorldByIndex(0));
EXPECT_NE(nullptr, world);

EXPECT_NE(nullptr, world);
world->SetGravity(Eigen::Vector3d{0, 0, -9.8});

auto model = world->GetModel("sphere");
auto bbox = model->GetAxisAlignedBoundingBox();
AssertVectorApprox vectorPredicate(1e-4);
Expand Down
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