Add GetJointTransmittedWrench feature (#283)

Adds a new feature that exposes the transmitted forces on a joint, which are needed for creating a Force/Torque sensor Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Peters <[email protected]> Co-authored-by: Steve Peters <[email protected]>
gazebosim · Sep 21, 2021 · 049871a · 049871a
1 parent 45b52a4
commit 049871a
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Showing 10 changed files with 814 additions and 1 deletion.
diff --git a/dartsim/src/JointFeatures.cc b/dartsim/src/JointFeatures.cc
@@ -645,6 +645,33 @@ Identity JointFeatures::AttachPrismaticJoint(
   return this->GenerateIdentity(jointID, this->joints.at(jointID));
 }
 
+/////////////////////////////////////////////////
+Wrench3d JointFeatures::GetJointTransmittedWrenchInJointFrame(
+    const Identity &_id) const
+{
+  auto &joint = this->ReferenceInterface<JointInfo>(_id)->joint;
+  auto *childBn = joint->getChildBodyNode();
+  if (nullptr == childBn)
+  {
+    ignerr
+        << "Joint [" << joint->getName()
+        << "] does not have a child link. Unable to get transmitted wrench.\n";
+    return {};
+  }
+
+  const Eigen::Vector6d transmittedWrenchInBody = childBn->getBodyForce();
+  // C - Child body frame
+  // J - Joint frame
+  // X_CJ - Pose of joint in child body frame
+  const Eigen::Isometry3d X_CJ = joint->getTransformFromChildBodyNode();
+
+  const Eigen::Vector6d transmittedWrenchInJoint =
+      dart::math::dAdT(X_CJ, transmittedWrenchInBody);
+  Wrench3d wrenchOut;
+  wrenchOut.torque = transmittedWrenchInJoint.head<3>();
+  wrenchOut.force = transmittedWrenchInJoint.tail<3>();
+  return wrenchOut;
+}
 }
 }
 }
diff --git a/dartsim/src/JointFeatures.hh b/dartsim/src/JointFeatures.hh
@@ -55,7 +55,8 @@ struct JointFeatureList : FeatureList<
   SetJointVelocityCommandFeature,
   SetJointPositionLimitsFeature,
   SetJointVelocityLimitsFeature,
-  SetJointEffortLimitsFeature
+  SetJointEffortLimitsFeature,
+  GetJointTransmittedWrench
 > { };
 
 class JointFeatures :
@@ -198,6 +199,10 @@ class JointFeatures :
   public: void SetJointMaxEffort(
       const Identity &_id, const std::size_t _dof,
       const double _value) override;
+
+  // ----- Transmitted wrench -----
+  public: Wrench3d GetJointTransmittedWrenchInJointFrame(
+      const Identity &_id) const override;
 };
 
 }