Dynamic grippers

[biotinker]

Not sure this is ready to merge yet but it's approx. where my head is at for this.

This adds mimic as a field which can be added to joints in a model file. It adds a new constructor to SimpleModel to allow construction with mimic mappings.

This allows multiple joints to be controlled by a single input, optionally with a multiplier or offset.

For example, the two jaws of a gripper, modeled as two different prismatic frames, can both be opened or closed via a single value.

This supports URDF files. The usage of mimic, and the joint, multiplier, and offset attributes are exactly what URDF uses to accomplish this same task.

[github-actions]

Availability

Scene #	viamrobotics:main	biotinker:20260205_dynamic_grippers	Percent Improvement	Health
1	100%	100%	0%	➖
2	100%	100%	0%	➖
3	100%	100%	0%	➖
4	100%	100%	0%	➖
5	100%	100%	0%	➖
6	100%	100%	0%	➖
7	100%	100%	0%	➖
8	100%	100%	0%	➖
9	100%	100%	0%	➖
10	100%	100%	0%	➖
11	100%	100%	0%	➖

Quality

Scene #	viamrobotics:main	biotinker:20260205_dynamic_grippers	Percent Improvement	Probability of Improvement	Health
1	1.31±0.00	1.31±0.00	0%	55%	➖
2	0.94±0.01	0.94±0.01	-0%	40%	➖
3	5.89±0.37	5.95±0.38	-1%	46%	➖
4	1.98±0.27	1.98±0.27	0%	50%	➖
5	8.78±1.87	8.78±1.87	-0%	50%	➖
6	8.94±2.48	8.94±2.48	-0%	50%	➖
7	1.95±0.38	1.95±0.38	-0%	50%	➖
8	0.94±0.01	0.94±0.01	-0%	50%	➖
9	4.17±0.00	4.17±0.00	-0%	50%	➖
10	12.63±0.03	12.63±0.03	-0%	50%	➖
11	0.62±0.00	0.62±0.00	-0%	41%	➖

Performance

Scene #	viamrobotics:main	biotinker:20260205_dynamic_grippers	Percent Improvement	Probability of Improvement	Health
1	0.02±0.00	0.02±0.00	-1%	38%	➖
2	0.03±0.00	0.02±0.00	5%	66%	➖
3	0.02±0.00	0.02±0.00	-5%	38%	➖
4	0.27±0.08	0.24±0.05	9%	61%	➖
5	1.39±0.14	1.38±0.12	0%	51%	➖
6	1.63±0.33	1.61±0.28	1%	52%	➖
7	1.30±0.09	1.30±0.08	0%	52%	➖
8	0.03±0.00	0.03±0.00	1%	52%	➖
9	1.66±0.11	1.68±0.11	-2%	43%	➖
10	3.35±0.39	3.32±0.39	1%	53%	➖
11	0.54±0.10	0.54±0.09	-1%	48%	➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 0e931489d131bab9318e21e661bd8bd8d4c13ade
The SHA1 for biotinker:20260205_dynamic_grippers is: 0e931489d131bab9318e21e661bd8bd8d4c13ade

• 11 samples were taken for each scene