add feature for changing force between obj-obj obj-wall to planar #393
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ebianchi
reviewed
Aug 12, 2025
solvers/lcs_factory.cc
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| int num_direction_contacts = with_z_lambda? 2 * n_contacts * num_friction_directions : 2*num_friction_directions*(n_contacts - num_planar_contacts) + 2 * 1 * num_planar_contacts; |
ebianchi
reviewed
Aug 12, 2025
solvers/lcs_factory.cc
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| multibody::GeomGeomCollider collider(plant, contact_geoms[i]); | ||
| auto [phi_i, J_i] = collider.EvalPolytope(context, num_friction_directions); | ||
| auto [p_WCa, p_WCb] = collider.CalcWitnessPoints(context); | ||
| // TODO(yangwill): think about if we want to push back both witness points |
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ebianchi
reviewed
Aug 12, 2025
solvers/lcs_factory.cc
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| if (num_direction_contacts_vector[i] == 1) { | ||
| Eigen::Vector3d planar_normal; | ||
| planar_normal << 0, 0, 1; | ||
| auto [phi_i, J_i] = collider.EvalPlanar(context, planar_normal); | ||
| auto [p_WCa, p_WCb] = collider.CalcWitnessPoints(context); | ||
| contact_points.push_back(p_WCa); | ||
| phi(i) = phi_i; | ||
| J_n.row(i) = J_i.row(0); | ||
| J_t.block(2 * std::accumulate(num_direction_contacts_vector.begin(),num_direction_contacts_vector.begin()+i,0), 0, 2 * num_direction_contacts_vector[i], | ||
| n_v) = J_i.block(1, 0, 2 * num_direction_contacts_vector[i], n_v); | ||
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| } else { | ||
| auto [phi_i, J_i] = | ||
| collider.EvalPolytope(context, num_direction_contacts_vector[i]); | ||
| auto [p_WCa, p_WCb] = collider.CalcWitnessPoints(context); | ||
| contact_points.push_back(p_WCa); | ||
| phi(i) = phi_i; | ||
| J_n.row(i) = J_i.row(0); | ||
| J_t.block(2 * std::accumulate(num_direction_contacts_vector.begin(),num_direction_contacts_vector.begin()+i,0), 0, 2 * num_direction_contacts_vector[i], | ||
| n_v) = J_i.block(1, 0, 2 * num_direction_contacts_vector[i], n_v); | ||
| } |
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The only difference between the if and else is which normal to use. Suggest structure like:
if (num_direciton_contacts_vector[i] == 1) { // Do EvalPlanar }
else { // Do EvalPolytope }
// Then after the if/else do all the other commands, starting with collider.CalcWitnessPoints
ebianchi
reviewed
Aug 12, 2025
solvers/lcs_factory.cc
Outdated
| << ", " << inspector.GetName(pair.second()) | ||
| << ") with phi = " << phi_i << " between world points [" | ||
| << p_world_contact_a.transpose() << "], [" | ||
| << p_world_contact_b.transpose() << "]" << std::endl; | ||
| } | ||
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| bool LCSFactory::IsObjToObjContact(const drake::multibody::MultibodyPlant<double>& plant, |
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Flagging here that our in-person discussion considered making this more general purpose than detecting obj-obj filenames and instead defining a new vector that can label obj-obj interactions as "planar" (and same with obj-wall, and label e.g. ee-obj interactions as not planar, etc.).
ebianchi
reviewed
Aug 12, 2025
| @@ -14,6 +14,8 @@ publish_frequency: 0 | |||
| penalize_changes_in_u_across_solves: false # Penalize (u-u_prev) instead of u. | |||
| num_friction_directions: 2 | |||
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| with_z_lambda: true | |||
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Suggest removing this parameter and instead define one like contact_pair_types_are_planar = [false, false, false, true, true] which would mean EE-ground, EE-obj, and obj-ground pairs are 3D and obj-obj and obj-wall pairs are planar.
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