/
osgHuboPuppet.cpp
1443 lines (1119 loc) · 41.1 KB
/
osgHuboPuppet.cpp
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/*
* Copyright (c) 2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Michael X. Grey <mxgrey@gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <dart/dart.h>
#include <osgDart/osgDart.h>
using namespace dart::dynamics;
using namespace dart::simulation;
class RelaxedPosture : public dart::optimizer::Function
{
public:
RelaxedPosture(const Eigen::VectorXd& idealPosture,
const Eigen::VectorXd& lower, const Eigen::VectorXd& upper,
const Eigen::VectorXd& weights, bool enforceIdeal = false)
: enforceIdealPosture(enforceIdeal),
mIdeal(idealPosture),
mLower(lower),
mUpper(upper),
mWeights(weights)
{
int dofs = mIdeal.size();
if(mLower.size() != dofs || mWeights.size() != dofs || mUpper.size() != dofs)
{
dterr << "[RelaxedPose::RelaxedPose] Dimension mismatch:\n"
<< " ideal: " << mIdeal.size() << "\n"
<< " lower: " << mLower.size() << "\n"
<< " upper: " << mUpper.size() << "\n"
<< " weights: " << mWeights.size() << "\n";
}
mResultVector.setZero(dofs);
}
double eval(const Eigen::VectorXd& _x) override
{
computeResultVector(_x);
return 0.5 * mResultVector.dot(mResultVector);
}
void evalGradient(const Eigen::VectorXd& _x,
Eigen::Map<Eigen::VectorXd> _grad) override
{
computeResultVector(_x);
_grad.setZero();
int smaller = std::min(mResultVector.size(), _grad.size());
for(int i=0; i < smaller; ++i)
_grad[i] = mResultVector[i];
}
void computeResultVector(const Eigen::VectorXd& _x)
{
mResultVector.setZero();
if(enforceIdealPosture)
{
for(int i=0; i < _x.size(); ++i)
{
if(mIdeal.size() <= i)
break;
mResultVector[i] = mWeights[i]*(_x[i] - mIdeal[i]);
}
}
else
{
for(int i=0; i < _x.size(); ++i)
{
if(mIdeal.size() <= i)
break;
if(_x[i] < mLower[i])
mResultVector[i] = mWeights[i]*(_x[i] - mLower[i]);
else if(mUpper[i] < _x[i])
mResultVector[i] = mWeights[i]*(_x[i] - mUpper[i]);
}
}
}
bool enforceIdealPosture;
protected:
Eigen::VectorXd mResultVector;
Eigen::VectorXd mIdeal;
Eigen::VectorXd mLower;
Eigen::VectorXd mUpper;
Eigen::VectorXd mWeights;
};
static inline bool checkDist(Eigen::Vector3d& p, double a, double b)
{
double d = p.norm();
double dmax = a+b;
double dmin = fabs(a-b);
if (d > dmax)
{
p *= dmax/d;
return false;
}
else if (d < dmin)
{
p *= dmin/d;
return false;
}
else
{
return true;
}
}
static inline void clamp_sincos(double& sincos, bool& valid)
{
if (sincos < -1)
{
valid = false;
sincos = -1;
}
else if (sincos > 1)
{
valid = false;
sincos = 1;
}
}
static inline Eigen::Vector3d flipEuler3Axis(const Eigen::Vector3d& u)
{
Eigen::Vector3d v;
v[0] = u[0] - M_PI;
v[1] = M_PI - u[1];
v[2] = u[2] - M_PI;
return v;
}
/// The HuboArmIK is based on the derivation of Hubo's arm IK by Matt Zucker.
class HuboArmIK : public InverseKinematics::Analytical
{
public:
HuboArmIK(InverseKinematics* _ik, const std::string& baseLinkName,
const Analytical::Properties& properties = Analytical::Properties())
: Analytical(_ik, "HuboArmIK_"+baseLinkName, properties),
configured(false),
mBaseLinkName(baseLinkName)
{
// Do nothing
}
std::unique_ptr<GradientMethod> clone(InverseKinematics* _newIK) const override
{
return std::make_unique<HuboArmIK>(_newIK, mBaseLinkName, getAnalyticalProperties());
}
const std::vector<Solution>& computeSolutions(
const Eigen::Isometry3d& _desiredBodyTf) override
{
mSolutions.clear();
mSolutions.reserve(8);
if(!configured)
{
configure();
if(!configured)
{
dtwarn << "[HuboArmIK::computeSolutions] This analytical IK was not able "
<< "to configure properly, so it will not be able to compute "
<< "solutions\n";
return mSolutions;
}
}
const BodyNodePtr& base = mBaseLink.lock();
if(nullptr == base)
{
dterr << "[HuboArmIK::computeSolutions] Attempting to perform an IK on a "
<< "limb that no longer exists [" << getMethodName() << "]!\n";
assert(false);
return mSolutions;
}
if(nullptr == mWristEnd)
{
dterr << "[HuboArmIK::computeSolutions] Attempting to perform IK without "
<< "a wrist!\n";
assert(false);
return mSolutions;
}
const size_t SP = 0;
const size_t SR = 1;
const size_t SY = 2;
const size_t EP = 3;
const size_t WY = 4;
const size_t WP = 5;
const SkeletonPtr& skel = base->getSkeleton();
Eigen::Isometry3d B =
base->getParentBodyNode()->getWorldTransform().inverse()
* _desiredBodyTf * mWristEnd->getTransform(mIK->getNode());
Eigen::Isometry3d shoulder_from_wrist = shoulderTf.inverse() * B;
Eigen::Vector3d p = shoulder_from_wrist.inverse().translation();
const double a2 = L5*L5 + L4*L4;
const double b2 = L3*L3 + L4*L4;
const double a = sqrt(a2);
const double b = sqrt(b2);
const double alpha = atan2(L5, L4);
const double beta = atan2(L3, L4);
bool startValid = checkDist(p, a, b);
double c2 = p.dot(p);
double x = p.x();
double y = p.y();
double z = p.z();
for(size_t i = 0; i < 8; ++i)
{
const int flipEP = alterantives(i,0);
const int incWY = alterantives(i,1);
const int flipShoulder = alterantives(i,2);
Eigen::Vector6d testQ;
bool isValid = startValid;
double cosGamma = (a2 + b2 - c2) / (2*a*b);
clamp_sincos(cosGamma, isValid);
double gamma = flipEP * acos( cosGamma );
double theta3 = alpha + beta + gamma - 2*M_PI;
testQ(EP) = theta3;
double c3 = cos(theta3);
double s3 = sin(theta3);
double numer = -y;
double denom = (-L4*c3 - L3*s3 + L4);
double s2, theta2;
if(std::abs(denom) < zeroSize)
{
isValid = false;
const double& prevWY = skel->getPosition(mDofs[WY]);
theta2 = incWY ? prevWY : M_PI - prevWY;
s2 = sin(theta2);
}
else
{
s2 = numer / denom;
clamp_sincos(s2, isValid);
theta2 = incWY ? M_PI - asin(s2) : asin(s2);
}
testQ(WY) = theta2;
double c2 = cos(theta2);
double r = L4*c2 - L4*c2*c3 - L3*s3*c2;
double q = -L4*s3 + L3*c3 + L5;
double det = -(q*q + r*r);
if(std::abs(det) < zeroSize)
isValid = false;
double k = det < 0 ? -1 : 1;
double ks1 = k*( q*x - r*z );
double kc1 = k*(-r*x - q*z );
double theta1 = atan2(ks1, kc1);
testQ(WP) = theta1;
Eigen::Quaterniond Rlower =
Eigen::Quaterniond(Eigen::AngleAxisd(testQ(EP), Eigen::Vector3d::UnitY())) *
Eigen::Quaterniond(Eigen::AngleAxisd(testQ(WY), Eigen::Vector3d::UnitZ())) *
Eigen::Quaterniond(Eigen::AngleAxisd(testQ(WP), Eigen::Vector3d::UnitY()));
Eigen::Matrix3d Rupper = B.rotation() * Rlower.inverse().matrix();
Eigen::Vector3d euler = Rupper.eulerAngles(1, 0, 2);
if(flipShoulder)
euler = flipEuler3Axis(euler);
testQ(SP) = euler[0];
testQ(SR) = euler[1];
testQ(SY) = euler[2];
for(size_t j=0; j < 6; ++j)
{
testQ[j] = dart::math::wrapToPi(testQ[j]);
if(std::abs(testQ[j]) < zeroSize)
testQ[j] = 0.0;
}
int validity = isValid? VALID : OUT_OF_REACH;
mSolutions.push_back(Solution(testQ, validity));
}
checkSolutionJointLimits();
return mSolutions;
}
const std::vector<size_t>& getDofs() const override
{
if(!configured)
configure();
return mDofs;
}
const double zeroSize = 1e-8;
protected:
void configure() const
{
configured = false;
mBaseLink = mIK->getNode()->getSkeleton()->getBodyNode(mBaseLinkName);
BodyNode* base = mBaseLink.lock();
if(nullptr == base)
{
dterr << "[HuboArmIK::configure] base link is a nullptr\n";
assert(false);
return;
}
const SkeletonPtr& skel = base->getSkeleton();
const BodyNodePtr& pelvis = skel->getBodyNode("Body_TSY");
if(nullptr == pelvis)
{
dterr << "[HuboArmIK::configure] Could not find Hubo's pelvis "
<< "(Body_TSY)\n";
assert(false);
return;
}
Eigen::Vector6d saved_q;
DegreeOfFreedom* dofs[6];
BodyNode* bn = base;
for(size_t i=0; i < 6; ++i)
{
Joint* joint = bn->getParentJoint();
if(joint->getNumDofs() != 1)
{
dterr << "[HuboArmIK::configure] Invalid number of DOFs ("
<< joint->getNumDofs() << ") in the Joint [" << joint->getName()
<< "]\n";
assert(false);
return;
}
dofs[i] = joint->getDof(0);
saved_q[i] = dofs[i]->getPosition();
dofs[i]->setPosition(0.0);
bn = bn->getChildBodyNode(0);
}
BodyNode* elbow = dofs[3]->getChildBodyNode();
L3 = std::abs(elbow->getTransform(dofs[2]->getParentBodyNode()).translation()[2]);
L4 = std::abs(elbow->getTransform(dofs[3]->getParentBodyNode()).translation()[0]);
BodyNode* wrist = dofs[5]->getChildBodyNode();
Eigen::Isometry3d wrist_tf = wrist->getTransform(elbow);
L5 = std::abs(wrist_tf.translation()[2]);
shoulderTf = Eigen::Isometry3d::Identity();
shoulderTf.translate(dofs[3]->getParentBodyNode()->getTransform(pelvis)
.translation()[0] * Eigen::Vector3d::UnitX());
shoulderTf.translate(dofs[2]->getParentBodyNode()->getTransform(pelvis)
.translation()[1] * Eigen::Vector3d::UnitY());
shoulderTf.translate(dofs[2]->getParentBodyNode()->getTransform(pelvis)
.translation()[2] * Eigen::Vector3d::UnitZ());
mWristEnd = dofs[5]->getChildBodyNode();
alterantives <<
1, 1, 1,
1, 1, 0,
1, 0, 1,
1, 0, 0,
-1, 1, 1,
-1, 1, 0,
-1, 0, 1,
-1, 0, 0;
for(size_t i=0; i < 6; ++i)
{
dofs[i]->setPosition(saved_q[i]);
mDofs.push_back(dofs[i]->getIndexInSkeleton());
}
configured = true;
}
mutable bool configured;
mutable Eigen::Isometry3d shoulderTf;
mutable Eigen::Isometry3d wristTfInv;
mutable Eigen::Isometry3d mNodeOffsetTfInv;
mutable double L3, L4, L5;
mutable Eigen::Matrix<int, 8, 3> alterantives;
mutable std::vector<size_t> mDofs;
std::string mBaseLinkName;
mutable WeakBodyNodePtr mBaseLink;
mutable JacobianNode* mWristEnd;
};
class HuboLegIK : public InverseKinematics::Analytical
{
public:
/// baseLink should be Body_LHY or Body_RHY
HuboLegIK(InverseKinematics* _ik, const std::string& baseLinkName,
const Analytical::Properties& properties = Analytical::Properties())
: Analytical(_ik, "HuboLegIK_"+baseLinkName, properties),
configured(false),
mBaseLinkName(baseLinkName)
{
// Do nothing
}
std::unique_ptr<GradientMethod> clone(InverseKinematics* _newIK) const override
{
return std::make_unique<HuboLegIK>(_newIK, mBaseLinkName, getAnalyticalProperties());
}
const std::vector<Solution>& computeSolutions(
const Eigen::Isometry3d& _desiredBodyTf) override
{
mSolutions.clear();
mSolutions.reserve(8);
if(!configured)
{
configure();
if(!configured)
{
dtwarn << "[HuboLegIK::computeSolutions] This analytical IK was not able "
<< "to configure properly, so it will not be able to compute "
<< "solutions\n";
return mSolutions;
}
}
const BodyNodePtr& base = mBaseLink.lock();
if(nullptr == base)
{
dterr << "[HuboLegIK::computeSolutions] Attempting to perform IK on a "
<< "limb that no longer exists!\n";
assert(false);
return mSolutions;
}
double nx, ny, sx, sy, ax, ay, az, px, py, pz;
double q1, q2, q3, q4, q5, q6;
double S2, S4, S6;
double C2, C4, C5, C6;
double C45, psi, q345;
std::complex<double> radical;
std::complex<double> sqrt_radical;
Eigen::Isometry3d B, Binv;
Eigen::Vector6d testQ;
B = (base->getParentBodyNode()->getWorldTransform() * waist).inverse()
* _desiredBodyTf * footTfInv;
Binv = B.inverse();
nx = Binv(0,0); sx = Binv(0,1); ax = Binv(0,2); px = Binv(0,3);
ny = Binv(1,0); sy = Binv(1,1); ay = Binv(1,2); py = Binv(1,3);
az = Binv(2,2); pz = Binv(2,3);
for(size_t i=0; i < 8; ++i)
{
bool isValid = true;
C4 = ((px+L6)*(px+L6) - L4*L4 - L5*L5 + py*py + pz*pz)/(2*L4*L5);
radical = 1-C4*C4;
sqrt_radical = std::sqrt(radical);
if(sqrt_radical.imag() != 0)
isValid = false;
q4 = atan2(alternatives(i,0)*sqrt_radical.real(), C4);
S4 = sin(q4);
psi = atan2(S4*L4, C4*L4+L5);
radical = (px+L6)*(px+L6) + py*py;
sqrt_radical = std::sqrt(radical);
if(sqrt_radical.imag() != 0)
isValid = false;
q5 = dart::math::wrapToPi(atan2(-pz, alternatives(i,1)*sqrt_radical.real())-psi);
q6 = atan2(py, -(px+L6));
C45 = cos(q4+q5);
C5 = cos(q5);
if( C45*L4 + C5*L5 < 0 )
q6 = dart::math::wrapToPi(q6+M_PI);
S6 = sin(q6);
C6 = cos(q6);
S2 = C6*ay + S6*ax;
radical = 1-S2*S2;
sqrt_radical = std::sqrt(radical);
if(sqrt_radical.imag() != 0)
isValid = false;
q2 = atan2(S2, alternatives(i,2)*sqrt_radical.real());
q1 = atan2(C6*sy + S6*sx, C6*ny + S6*nx);
C2 = cos(q2);
if( C2 < 0 )
q1 = dart::math::wrapToPi(q1+M_PI);
q345 = atan2(-az/C2, -(C6*ax - S6*ay)/C2);
q3 = dart::math::wrapToPi(q345 - q4 - q5);
testQ[0]=q1; testQ[1]=q2; testQ[2]=q3; testQ[3]=q4; testQ[4]=q5; testQ[5]=q6;
for(int k=0; k<testQ.size(); ++k)
if( fabs(testQ[k]) < zeroSize )
testQ[k] = 0;
int validity = isValid? VALID : OUT_OF_REACH;
mSolutions.push_back(Solution(testQ, validity));
}
checkSolutionJointLimits();
return mSolutions;
}
const std::vector<size_t>& getDofs() const override
{
if(!configured)
configure();
return mDofs;
}
const double zeroSize = 1e-8;
protected:
void configure() const
{
configured = false;
mBaseLink = mIK->getNode()->getSkeleton()->getBodyNode(mBaseLinkName);
BodyNode* base = mBaseLink.lock();
if(nullptr == base)
{
dterr << "[HuboLegIK::configure] base link is a nullptr\n";
assert(false);
return;
}
const SkeletonPtr& skel = mIK->getNode()->getSkeleton();
BodyNode* pelvis = skel->getBodyNode("Body_TSY");
if(nullptr == pelvis)
{
dterr << "[HuboLegIK::configure] Could not find Hubo's pelvis "
<< "(Body_TSY)\n";
assert(false);
return;
}
Eigen::Vector6d saved_q;
DegreeOfFreedom* dofs[6];
BodyNode* bn = base;
for(size_t i=0; i < 6; ++i)
{
Joint* joint = bn->getParentJoint();
if(joint->getNumDofs() != 1)
{
dterr << "[HuboLegIK::configure] Invalid number of DOFs ("
<< joint->getNumDofs() << ") in the Joint [" << joint->getName()
<< "]\n";
assert(false);
return;
}
dofs[i] = joint->getDof(0);
saved_q[i] = dofs[i]->getPosition();
dofs[i]->setPosition(0.0);
if(bn->getNumChildBodyNodes() > 0)
bn = bn->getChildBodyNode(0);
}
L4 = std::abs(dofs[3]->getChildBodyNode()->
getRelativeTransform().translation()[2]);
L5 = std::abs(dofs[4]->getChildBodyNode()->
getRelativeTransform().translation()[2]);
// This offset will be taken care of with footTfInv
L6 = 0.0;
hipRotation = Eigen::Isometry3d::Identity();
hipRotation.rotate(Eigen::AngleAxisd(90*M_PI/180.0,
Eigen::Vector3d::UnitZ()));
waist = dofs[2]->getChildBodyNode()->getTransform(
dofs[0]->getParentBodyNode()) * hipRotation;
footTfInv = Eigen::Isometry3d::Identity();
footTfInv.rotate(Eigen::AngleAxisd(-90*M_PI/180.0,
Eigen::Vector3d::UnitY()));
footTfInv = footTfInv * mIK->getNode()->getTransform(dofs[5]->getChildBodyNode());
footTfInv = footTfInv.inverse();
alternatives <<
1, 1, 1,
1, 1, -1,
1, -1, 1,
1, -1, -1,
-1, 1, 1,
-1, 1, -1,
-1, -1, 1,
-1, -1, -1;
for(size_t i=0; i < 6; ++i)
{
dofs[i]->setPosition(saved_q[i]);
mDofs.push_back(dofs[i]->getIndexInSkeleton());
}
configured = true;
}
mutable double L4, L5, L6;
mutable Eigen::Isometry3d waist;
mutable Eigen::Isometry3d hipRotation;
mutable Eigen::Isometry3d footTfInv;
mutable Eigen::Matrix<int, 8, 3> alternatives;
mutable std::vector<size_t> mDofs;
mutable bool configured;
std::string mBaseLinkName;
mutable WeakBodyNodePtr mBaseLink;
};
class TeleoperationWorld : public osgDart::WorldNode
{
public:
enum MoveEnum_t
{
MOVE_Q = 0,
MOVE_W,
MOVE_E,
MOVE_A,
MOVE_S,
MOVE_D,
MOVE_F,
MOVE_Z,
NUM_MOVE
};
TeleoperationWorld(WorldPtr _world, SkeletonPtr _robot)
: osgDart::WorldNode(_world),
mHubo(_robot),
iter(0),
l_foot(_robot->getEndEffector("l_foot")),
r_foot(_robot->getEndEffector("r_foot")),
l_hand(_robot->getEndEffector("l_hand")),
r_hand(_robot->getEndEffector("r_hand"))
{
mMoveComponents.resize(NUM_MOVE, false);
mAnyMovement = false;
mAmplifyMovement = false;
}
void setMovement(const std::vector<bool>& moveComponents)
{
mMoveComponents = moveComponents;
mAnyMovement = false;
for(bool move : mMoveComponents)
{
if(move)
{
mAnyMovement = true;
break;
}
}
}
void customPreRefresh() override
{
if(mAnyMovement)
{
Eigen::Isometry3d old_tf = mHubo->getBodyNode(0)->getWorldTransform();
Eigen::Isometry3d new_tf = Eigen::Isometry3d::Identity();
Eigen::Vector3d forward = old_tf.linear().col(0);
forward[2] = 0.0;
if(forward.norm() > 1e-10)
forward.normalize();
else
forward.setZero();
Eigen::Vector3d left = old_tf.linear().col(1);
left[2] = 0.0;
if(left.norm() > 1e-10)
left.normalize();
else
left.setZero();
const Eigen::Vector3d& up = Eigen::Vector3d::UnitZ();
double linearStep = 0.01;
double elevationStep = 0.2*linearStep;
double rotationalStep = 2.0*M_PI/180.0;
if(mAmplifyMovement)
{
linearStep *= 2.0;
elevationStep *= 2.0;
rotationalStep *= 2.0;
}
if(mMoveComponents[MOVE_W])
new_tf.translate( linearStep*forward);
if(mMoveComponents[MOVE_S])
new_tf.translate(-linearStep*forward);
if(mMoveComponents[MOVE_A])
new_tf.translate( linearStep*left);
if(mMoveComponents[MOVE_D])
new_tf.translate(-linearStep*left);
if(mMoveComponents[MOVE_F])
new_tf.translate( elevationStep*up);
if(mMoveComponents[MOVE_Z])
new_tf.translate(-elevationStep*up);
if(mMoveComponents[MOVE_Q])
new_tf.rotate(Eigen::AngleAxisd( rotationalStep, up));
if(mMoveComponents[MOVE_E])
new_tf.rotate(Eigen::AngleAxisd(-rotationalStep, up));
new_tf.pretranslate(old_tf.translation());
new_tf.rotate(old_tf.rotation());
mHubo->getJoint(0)->setPositions(FreeJoint::convertToPositions(new_tf));
}
mHubo->getIK(true)->solve();
}
bool mAmplifyMovement;
protected:
SkeletonPtr mHubo;
size_t iter;
EndEffectorPtr l_foot;
EndEffectorPtr r_foot;
EndEffectorPtr l_hand;
EndEffectorPtr r_hand;
std::vector<IK::Analytical::Solution> mSolutions;
Eigen::VectorXd grad;
// Order: q, w, e, a, s, d
std::vector<bool> mMoveComponents;
bool mAnyMovement;
};
class InputHandler : public osgGA::GUIEventHandler
{
public:
InputHandler(osgDart::Viewer* viewer, TeleoperationWorld* teleop,
const SkeletonPtr& hubo, const WorldPtr& world)
: mViewer(viewer),
mTeleop(teleop),
mHubo(hubo),
mWorld(world)
{
initialize();
}
void initialize()
{
mRestConfig = mHubo->getPositions();
for(size_t i=0; i < mHubo->getNumEndEffectors(); ++i)
{
const InverseKinematicsPtr ik = mHubo->getEndEffector(i)->getIK();
if(ik)
{
mDefaultBounds.push_back(ik->getErrorMethod().getBounds());
mDefaultTargetTf.push_back(ik->getTarget()->getRelativeTransform());
mConstraintActive.push_back(false);
mEndEffectorIndex.push_back(i);
}
}
mPosture = std::dynamic_pointer_cast<RelaxedPosture>(
mHubo->getIK(true)->getObjective());
mBalance = std::dynamic_pointer_cast<dart::constraint::BalanceConstraint>(
mHubo->getIK(true)->getProblem()->getEqConstraint(1));
mOptimizationKey = 'r';
mMoveComponents.resize(TeleoperationWorld::NUM_MOVE, false);
}
virtual bool handle(const osgGA::GUIEventAdapter& ea,
osgGA::GUIActionAdapter&) override
{
if(nullptr == mHubo)
{
return false;
}
if( osgGA::GUIEventAdapter::KEYDOWN == ea.getEventType() )
{
if( ea.getKey() == osgGA::GUIEventAdapter::KEY_Tab )
{
if(mViewer->isRecording())
mViewer->pauseRecording();
else
mViewer->record("/home/grey/dump");
mViewer->captureScreen("/home/grey/dump/capture.png");
}
if( ea.getKey() == 'p' )
{
for(size_t i=0; i < mHubo->getNumDofs(); ++i)
std::cout << mHubo->getDof(i)->getName() << ": "
<< mHubo->getDof(i)->getPosition() << std::endl;
return true;
}
if( ea.getKey() == 't' )
{
// Reset all the positions except for x, y, and yaw
for(size_t i=0; i < mHubo->getNumDofs(); ++i)
{
if( i < 2 || 4 < i )
mHubo->getDof(i)->setPosition(mRestConfig[i]);
}
return true;
}
if( '1' <= ea.getKey() && ea.getKey() <= '9' )
{
size_t index = ea.getKey() - '1';
if(index < mConstraintActive.size())
{
EndEffector* ee = mHubo->getEndEffector(mEndEffectorIndex[index]);
const InverseKinematicsPtr& ik = ee->getIK();
if(ik && mConstraintActive[index])
{
mConstraintActive[index] = false;
ik->getErrorMethod().setBounds(mDefaultBounds[index]);
ik->getTarget()->setRelativeTransform(mDefaultTargetTf[index]);
mWorld->removeSimpleFrame(ik->getTarget());
}
else if(ik)
{
mConstraintActive[index] = true;
// Use the standard default bounds instead of our custom default
// bounds
ik->getErrorMethod().setBounds();
ik->getTarget()->setTransform(ee->getTransform());
mWorld->addSimpleFrame(ik->getTarget());
}
}
return true;
}
if( 'x' == ea.getKey() )
{
EndEffector* ee = mHubo->getEndEffector("l_foot");
ee->getSupport()->setActive(!ee->getSupport()->isActive());
return true;
}
if( 'c' == ea.getKey() )
{
EndEffector* ee = mHubo->getEndEffector("r_foot");
ee->getSupport()->setActive(!ee->getSupport()->isActive());
return true;
}
if(ea.getKey() == osgGA::GUIEventAdapter::KEY_Shift_L)
mTeleop->mAmplifyMovement = true;
switch(ea.getKey())
{
case 'w': case 'W': mMoveComponents[TeleoperationWorld::MOVE_W] = true; break;
case 'a': case 'A': mMoveComponents[TeleoperationWorld::MOVE_A] = true; break;
case 's': case 'S': mMoveComponents[TeleoperationWorld::MOVE_S] = true; break;
case 'd': case 'D': mMoveComponents[TeleoperationWorld::MOVE_D] = true; break;
case 'q': case 'Q': mMoveComponents[TeleoperationWorld::MOVE_Q] = true; break;
case 'e': case 'E': mMoveComponents[TeleoperationWorld::MOVE_E] = true; break;
case 'f': case 'F': mMoveComponents[TeleoperationWorld::MOVE_F] = true; break;
case 'z': case 'Z': mMoveComponents[TeleoperationWorld::MOVE_Z] = true; break;
}
switch(ea.getKey())
{
case 'w': case 'a': case 's': case 'd': case 'q': case 'e': case 'f': case 'z':
case 'W': case 'A': case 'S': case 'D': case 'Q': case 'E': case 'F': case 'Z':
{
mTeleop->setMovement(mMoveComponents);
return true;
}
}
if(mOptimizationKey == ea.getKey())
{
if(mPosture)
mPosture->enforceIdealPosture = true;
if(mBalance)
mBalance->setErrorMethod(dart::constraint::BalanceConstraint::OPTIMIZE_BALANCE);
return true;