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hexapod.hpp
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hexapod.hpp
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#ifndef HEXAPOD_DART_HEXAPOD_HPP
#define HEXAPOD_DART_HEXAPOD_HPP
#include <dart/dart.hpp>
#include <dart/utils/urdf/urdf.hpp>
#include <boost/filesystem.hpp>
#include <Eigen/Core>
#include <string>
#include <fstream>
#include <streambuf>
namespace hexapod_dart {
struct HexapodDamage {
HexapodDamage() {}
HexapodDamage(const std::string& type, const std::string& data, void* extra = nullptr) : type(type), data(data), extra(extra) {}
std::string type;
std::string data;
void* extra = nullptr;
};
class Hexapod {
public:
Hexapod() {}
Hexapod(std::string urdf_file, std::vector<HexapodDamage> damages) : _skeleton(_load_urdf(urdf_file))
{
assert(_skeleton != nullptr);
_set_damages(damages);
// Set all coefficients to default values
set_friction_coeff();
set_restitution_coeff();
}
Hexapod(dart::dynamics::SkeletonPtr skeleton, std::vector<HexapodDamage> damages) : _skeleton(skeleton)
{
assert(_skeleton != nullptr);
_set_damages(damages);
}
std::shared_ptr<Hexapod> clone() const
{
// safely clone the skeleton
_skeleton->getMutex().lock();
auto tmp_skel = _skeleton->clone();
_skeleton->getMutex().unlock();
auto hexapod = std::make_shared<Hexapod>();
hexapod->_skeleton = tmp_skel;
hexapod->_damages = _damages;
hexapod->_broken_legs = _broken_legs;
return hexapod;
}
dart::dynamics::SkeletonPtr skeleton()
{
return _skeleton;
}
bool is_broken(int leg) const
{
for (size_t j = 0; j < _broken_legs.size(); j++) {
if (leg == _broken_legs[j]) {
return true;
}
}
return false;
}
std::vector<int> broken_legs() const
{
return _broken_legs;
}
std::vector<HexapodDamage> damages() const
{
return _damages;
}
Eigen::Vector3d pos()
{
// DART's getPositions returns: COM orientation, COM position, joint positions
auto pos_and_rot = _skeleton->getPositions();
return {pos_and_rot(3), pos_and_rot(4), pos_and_rot(5)};
}
Eigen::Vector3d rot()
{
// DART's getPositions returns: COM orientation, COM position, joint positions
auto pos_and_rot = _skeleton->getPositions();
return {pos_and_rot(0), pos_and_rot(1), pos_and_rot(2)};
}
Eigen::Vector6d pose()
{
// DART's getPositions returns: COM orientation, COM position, joint positions
auto pos_and_rot = _skeleton->getPositions();
Eigen::Vector6d tmp;
tmp << pos_and_rot(0), pos_and_rot(1), pos_and_rot(2), pos_and_rot(3), pos_and_rot(4), pos_and_rot(5);
return tmp;
}
void set_friction_coeff(double friction = 1.0)
{
if (friction < 0.0)
return;
for (size_t i = 0; i < _skeleton->getNumBodyNodes(); i++) {
auto bd = _skeleton->getBodyNode(i);
bd->setFrictionCoeff(friction);
}
}
double get_friction_coeff()
{
return _skeleton->getBodyNode(0)->getFrictionCoeff();
}
void set_restitution_coeff(double restitution = 0.0)
{
if (restitution < 0.0 || restitution > 1.0)
return;
for (size_t i = 0; i < _skeleton->getNumBodyNodes(); i++) {
auto bd = _skeleton->getBodyNode(i);
bd->setRestitutionCoeff(restitution);
}
}
double get_restitution_coeff()
{
return _skeleton->getBodyNode(0)->getRestitutionCoeff();
}
protected:
dart::dynamics::SkeletonPtr _load_urdf(std::string model_file)
{
// Remove spaces from beginning of the filename/path
model_file.erase(model_file.begin(), std::find_if(model_file.begin(), model_file.end(), [](int ch) {
return !std::isspace(ch);
}));
if (model_file[0] != '/')
model_file = boost::filesystem::current_path().string() + "/" + model_file;
dart::dynamics::SkeletonPtr tmp_skel;
dart::utils::DartLoader loader;
tmp_skel = loader.parseSkeleton(model_file);
if (tmp_skel == nullptr)
return nullptr;
tmp_skel->setName("hexapod");
// Set joint limits/actuator types
for (size_t i = 1; i < tmp_skel->getNumJoints(); ++i) {
tmp_skel->getJoint(i)->setPositionLimitEnforced(true);
tmp_skel->getJoint(i)->setActuatorType(dart::dynamics::Joint::VELOCITY);
}
// Fix for mesh materials
for (size_t i = 0; i < tmp_skel->getNumBodyNodes(); ++i) {
dart::dynamics::BodyNode* bn = tmp_skel->getBodyNode(i);
for (size_t j = 0; j < bn->getNumShapeNodes(); ++j) {
dart::dynamics::ShapeNode* sn = bn->getShapeNode(j);
if (sn->getVisualAspect()) {
dart::dynamics::MeshShape* ms = dynamic_cast<dart::dynamics::MeshShape*>(sn->getShape().get());
if (ms)
ms->setColorMode(dart::dynamics::MeshShape::SHAPE_COLOR);
}
}
}
return tmp_skel;
}
void _set_damages(const std::vector<HexapodDamage>& damages)
{
_broken_legs.clear();
_damages = damages;
for (auto dmg : _damages) {
if (dmg.type == "leg_removal") {
for (size_t i = 0; i < dmg.data.size(); i++) {
int l = dmg.data[i] - '0';
_broken_legs.push_back(l);
std::string leg_bd_name = "leg_" + std::string(1, dmg.data[i]) + "_1";
auto bd = _skeleton->getBodyNode(leg_bd_name);
bd->removeAllShapeNodes();
bd->remove();
}
}
else if (dmg.type == "leg_shortening") {
std::string leg_bd_name = "leg_" + dmg.data + "_3";
auto bd = _skeleton->getBodyNode(leg_bd_name);
bd->setMass(bd->getMass() / 2.0);
auto nodes = bd->getShapeNodes();
for (auto node : nodes) {
Eigen::Vector3d tr = node->getRelativeTranslation();
tr(1) = tr(1) / 2.0;
node->setRelativeTranslation(tr);
auto s = node->getShape();
if (s->getType() == "BoxShape") {
auto b = (dart::dynamics::BoxShape*)s.get();
Eigen::Vector3d size = b->getSize();
size(2) = size(2) / 2.0;
b->setSize(size);
}
else if (s->getType() == "CylinderShape") {
auto b = (dart::dynamics::CylinderShape*)s.get();
b->setHeight(b->getHeight() / 2.0);
}
}
}
else if (dmg.type == "blocked_joint") {
auto jnt = _skeleton->getJoint(dmg.data);
if (dmg.extra)
jnt->setPosition(0, *((double*)dmg.extra));
jnt->setActuatorType(dart::dynamics::Joint::LOCKED);
}
else if (dmg.type == "free_joint") {
_skeleton->getJoint(dmg.data)->setActuatorType(dart::dynamics::Joint::PASSIVE);
}
}
std::sort(_broken_legs.begin(), _broken_legs.end());
}
dart::dynamics::SkeletonPtr _skeleton;
std::vector<HexapodDamage> _damages;
std::vector<int> _broken_legs;
std::vector<int> _removed_joints;
};
}
#endif