implement dynamics modeling #737

sugikazu75 · 2025-10-30T09:18:42Z

Implemented following features with pinocchio

forward and inverse dynamics with thrust
thrust jacobian and its derivatives
joint torque generated by thruster and its derivatives

…ch and test code

…OSQP and its test code

…g, format code, and enable to set verbose when execute

… in input and print errors

…st force and its test

… function and derivative of tau by thrust

… tau by thrust

…sing KKT condition at optimal solution

…cobian of tau by thrust

…or all code

…sed)

…rame

…uster wrench w.r.t joint configuration vector q

…inocchio::integrate

…ion for pinocchio

…urdf

…server

…pioncchio_robot_description is registered

…erivative

…int torque limit

… as 0 because no generalized force can be directly added to root link

This reverts commit f3a45d9.

This reverts commit c18a8b0.

…erivative consider fext_partial_q

…ription from robot_description

… thrust w.r.t q

…w.r.t. q

sugikazu75 added 30 commits September 30, 2025 21:39

add new dependency pinocchio

3cc406c

[dragon] fix urdf not to include rotor as joint

c18a8b0

[dragon] add launcher to set robot_description to rosparameter

f3a45d9

[aerial_robot_dynamics] add new package

b432aa1

[aerial_robot_dynamics] implement forward dynamics with thruster wren…

a321b84

…ch and test code

[dragon] add actuator limits to xacro

ee3c2aa

[aerial_robot_dynamics] implement inverse dynamics with thrust using …

fd3965f

…OSQP and its test code

[aerial_robot_dynamics] measure execution time of FD and ID in testin…

bdb84e4

…g, format code, and enable to set verbose when execute

[aerial_robot_dynamics] improve test for FD and ID using random noise…

6a06f88

… in input and print errors

[aerial_robot_dynamics] implement forwardDynamicsDerivative with thru…

39cc713

…st force and its test

[aerial_robot_dynamics] implement external wrench by thrust calculate…

6a8d91f

… function and derivative of tau by thrust

[aerial_robot_dynamics] implement numerical derivative of jacobian of…

27aa365

… tau by thrust

[aerial_robot_dynamics] find openmp for parallel computing for eigen

fbe1892

[aerial_robot_dynamics] implement contraction of tensor and vector

f2d28f6

[aerial_robot_dynamics] refactor QP for inverse dynamics

55e4f77

[aerial_robot_dynamics][WIP] implement inverse dynamics derivatives u…

dc75019

…sing KKT condition at optimal solution

[aerial_robot_dynamics][WIP] implementing analytical derivative of ja…

276992e

…cobian of tau by thrust

[aerial_robot_dynamics] implement derivatives of inverse dynamics

2fe3af3

[aerial_robot_dynamics] separate base class and test class and refact…

69b52e1

…or all code

[aerial_robot_dynamics] enable to switch build test code or not

4ab2092

[aerial_robot_dynamics] test tauext partial thrust partial q (not pas…

b0359ce

…sed)

[aerial_robot_dynamics] format all code

3dc4f6d

[rosinstall] update pinocchio version

d11a29c

[aerial_robot_dynamics] consider offset from parent joint and rotor f…

c1be74c

…rame

[aerial_robot_dynamics] implement analytical second derivative of thr…

4f1464d

…uster wrench w.r.t joint configuration vector q

[rosinstall] add pinocchio for ros one distro

a20e91e

[aerial_robot_dynamics] change catkin package config

20ee458

[aerial_robot_dynamics] improve differential calculation for q. Use p…

31764fc

…inocchio::integrate

[aerial_robot_dynamics] support fixed based robot model

c2028b6

[aerial_robot_dynamics] fix variable for constructor in test node

73e18f4

sugikazu75 added 30 commits September 30, 2025 21:39

[aerial_robot_dynamics] change parameter name of robot model descript…

21809cf

…ion for pinocchio

[aerial_robot_dynamics] get thrust limit and joint torque limit from …

fe17c31

…urdf

[aerial_robot_dynamics] measure inverse dynamics solve time

640e0c4

[aerial_robot_dynamics] get thrust hessian weight from ros parameter …

b061dd2

…server

[aerial_robot_dynamics] get rotor direction from urdf and wait until …

aaab72d

…pioncchio_robot_description is registered

[aerial_robot_dynamics] make a function public to get tau by thrust d…

621beb1

…erivative

[aerial_robot_dynamics] add accessors to thrust_hessian_weight and jo…

ba1190c

…int torque limit

[aerial_robot_dynamics] set upper and lower limit for joint q

3324b43

[aerial_robot_dynamics] enable to access fext by thrust from other class

8dea6c1

[aerial_robot_dynarmics] enable to get rotor frame indices

13e8b2c

[aerial_robot_dynamics] set joint torque limit for floating base part…

f3443db

… as 0 because no generalized force can be directly added to root link

[aerial_robot_dynamics] add compile options

572e44a

Revert "[dragon] add launcher to set robot_description to rosparameter"

cacff36

This reverts commit f3a45d9.

Revert "[dragon] fix urdf not to include rotor as joint"

43bcd3c

This reverts commit c18a8b0.

[dragon] revert unused property in urdf

8890c8e

[aerial_robot_dynamics] install include directory and library

0c84f22

[aerial_robot_dynamics] fix cmake options

83d98a0

[aerial_robot_dynamics] fix FD test. consider rotor direction

25b0a05

[aerial_robot_dynamics] update FD derivative test. I found that aba d…

6627739

…erivative consider fext_partial_q

[aerial_robot_dynamics] add a script to generate pinocchio_robot_desc…

e29330e

…ription from robot_description

[aerial_robot_dynamics] add simple urdf for test and some util launcher

dbe498f

[aerial_robot_dynamics] add new API to calculate derivative of tau by…

a299ab3

… thrust w.r.t q

[aerial_robot_dynamics] decrease tolerance of FD derivative test

f14b4bb

[aerial_robot_dynamics] add new test for derivative of tau by thrust …

607d9f3

…w.r.t. q

[aerial_robot_dynamics] add new API to get parent joint w.r.t rotor

1079170

Merge branch 'develop/feature/dynamics' into PR/feature/dynamics

46d8b23

[aerial_robot_dynamics] add dependencies to package.xml

2315d76

Merge branch 'develop/feature/dynamics' into PR/feature/dynamics

3b59780

[aerial_robot_dynamics] install script and launch directory to workspace

97bdfe3

Merge branch 'develop/feature/dynamics' into PR/feature/dynamics

292e08e

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implement dynamics modeling #737

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sugikazu75 commented Oct 30, 2025 •

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sugikazu75 commented Oct 30, 2025 •

edited

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