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Joint Force-Torque Systems Plugin #977

Merged
merged 13 commits into from
Sep 22, 2021
Merged

Joint Force-Torque Systems Plugin #977

merged 13 commits into from
Sep 22, 2021

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chawladevansh
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@chawladevansh chawladevansh commented Aug 17, 2021 •
edited by azeey
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🎉 New feature

Summary

Systems Plugin Implementation for Joint Force-Torque Sensor.

Needs gazebosim/gz-sensors#144

Test it

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

@github-actions github-actions bot added the 🏢 edifice Ignition Edifice label Aug 17, 2021
@chawladevansh chawladevansh changed the title Force torque Force torque Systems Plugin for Ign-Gazebo Aug 17, 2021
@chawladevansh chawladevansh changed the title Force torque Systems Plugin for Ign-Gazebo Joint Force-Torque Systems Plugin Aug 17, 2021
@chapulina chapulina mentioned this pull request Aug 23, 2021
Merged
8 tasks
@chapulina chapulina mentioned this pull request Sep 2, 2021
Closed
@azeey azeey changed the base branch from ign-gazebo5 to main September 21, 2021 05:36
chawladevansh and others added 8 commits September 22, 2021 01:11
@chawladevansh @azeey
Force Torque Plugin
85614fc 
Signed-off-by: Devansh <devansh@vt.edu>
@chawladevansh @azeey
populating FT values - fix
d495f1d
@chawladevansh @azeey
updated code
4c4baeb
@mjcarroll @azeey
Make SdfEntityCreator consider ForceTorque sensors
c64f2c5 
Additionally add integration test and world for force_torque

Signed-off-by: Michael Carroll <michael@openrobotics.org>
@chawladevansh @azeey
deleted jointTorque plugin
d15dac3
@chawladevansh @azeey
testing jointForce compoment
1525356
@chawladevansh @azeey
Fixed parent component joint FT values
223c736
@azeey
Rebase on main, add test
3e17119 
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@azeey azeey added beta Targeting beta release of upcoming collection 🏯 fortress Ignition Fortress and removed 🏢 edifice Ignition Edifice labels Sep 22, 2021
@chapulina chapulina added the needs upstream release Blocked by a release of an upstream library label Sep 22, 2021
@azeey azeey marked this pull request as ready for review September 22, 2021 09:52
@azeey azeey requested a review from chapulina as a code owner September 22, 2021 09:52
chapulina
chapulina approved these changes Sep 22, 2021
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I just have some minor comments, but in general it LGTM.

src/systems/CMakeLists.txt Outdated Show resolved Hide resolved
src/systems/force_torque/ForceTorque.cc Outdated Show resolved Hide resolved
src/systems/force_torque/ForceTorque.cc Show resolved Hide resolved
src/systems/force_torque/ForceTorque.cc Outdated Show resolved Hide resolved
src/systems/force_torque/ForceTorque.cc Outdated Show resolved Hide resolved
test/integration/force_torque_system.cc Show resolved Hide resolved
@mjcarroll mjcarroll mentioned this pull request Sep 22, 2021
Merged
7 tasks
mjcarroll and others added 3 commits September 22, 2021 11:27
@mjcarroll
Address reviewer feedback
54793e9 
Signed-off-by: Michael Carroll <michael@openrobotics.org>
@mjcarroll
Alphabetize CMakeLists
4c79e65 
Signed-off-by: Michael Carroll <michael@openrobotics.org>
@azeey
Fix sign error when computing torque, set X_SC only once since it
4164499 
doesn't change

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@azeey
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azeey commented Sep 22, 2021

CMake is finding ign-sensors 6.0.0~pre1, but the force-torque component doesn't seem to be there

  
 -- Looking for ignition-sensors6 -- found version 6.0.0~pre1
 -- Searching for dependencies of ignition-sensors6
...
 -- Looking for ignition-sensors6 - not found
    By not providing "Findignition-sensors6-force_torque.cmake" in
  
    CMAKE_MODULE_PATH this project has asked CMake to find a package
    configuration file provided by "ignition-sensors6-force_torque", but CMake
    did not find one.
  
    Could not find a package configuration file provided by
    "ignition-sensors6-force_torque" (requested version 6.0.0) with any of the
    following names:
  
      ignition-sensors6-force_torqueConfig.cmake
      ignition-sensors6-force_torque-config.cmake

@chapulina chapulina removed the needs upstream release Blocked by a release of an upstream library label Sep 22, 2021
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codecov bot commented Sep 22, 2021 •
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Codecov Report

Merging #977 (e762c04) into main (ae1a048) will increase coverage by 0.07%.
The diff coverage is 75.59%.

❗ Current head e762c04 differs from pull request most recent head 4164499. Consider uploading reports for the commit 4164499 to get more accurate results
Impacted file tree graph

@@            Coverage Diff             @@
##             main     #977      +/-   ##
==========================================
+ Coverage   63.68%   63.76%   +0.07%     
==========================================
  Files         252      255       +3     
  Lines       19872    19999     +127     
==========================================
+ Hits        12656    12752      +96     
- Misses       7216     7247      +31
Impacted Files Coverage Δ
src/systems/force_torque/ForceTorque.cc 73.72% <73.72%> (ø)
include/ignition/gazebo/components/ForceTorque.hh 100.00% <100.00%> (ø)
src/SdfEntityCreator.cc 84.42% <100.00%> (+0.27%) ⬆️
src/systems/force_torque/ForceTorque.hh 100.00% <100.00%> (ø)

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@chapulina chapulina merged commit d889c5f into main Sep 22, 2021
@chapulina chapulina deleted the force_torque branch September 22, 2021 22:52
WilliamLewww pushed a commit to WilliamLewww/ign-gazebo that referenced this pull request Dec 7, 2021
@mjcarroll @azeey @WilliamLewww
Joint Force-Torque Systems Plugin (gazebosim#977)
c31ab18 
Signed-off-by: Devansh <devansh@vt.edu>
Signed-off-by: Michael Carroll <michael@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Co-authored-by: Michael Carroll <michael@openrobotics.org>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: William Lew <WilliamMilesLew@gmail.com>
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@chapulina chapulina chapulina approved these changes

@azeey azeey azeey left review comments

@mjcarroll mjcarroll Awaiting requested review from mjcarroll mjcarroll is a code owner

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