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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* 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 "Helpers.hpp"
#include <sstream>
#include <dart/utils/urdf/urdf.hpp>
//==============================================================================
dart::dynamics::SkeletonPtr createGround()
{
// Create a Skeleton to represent the ground
dart::dynamics::SkeletonPtr ground
= dart::dynamics::Skeleton::create("ground");
Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
double thickness = 0.01;
tf.translation() = Eigen::Vector3d(0, 0, -thickness / 2.0);
dart::dynamics::WeldJoint::Properties joint;
joint.mT_ParentBodyToJoint = tf;
ground->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr, joint);
dart::dynamics::ShapePtr groundShape
= std::make_shared<dart::dynamics::BoxShape>(
Eigen::Vector3d(10, 10, thickness));
auto shapeNode = ground->getBodyNode(0)
->createShapeNodeWith<
dart::dynamics::VisualAspect,
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(groundShape);
shapeNode->getVisualAspect()->setColor(dart::Color::Blue(0.2));
return ground;
}
//==============================================================================
dart::dynamics::SkeletonPtr createWam()
{
dart::utils::DartLoader urdfParser;
urdfParser.addPackageDirectory(
"herb_description", DART_DATA_PATH "/urdf/wam");
dart::dynamics::SkeletonPtr wam
= urdfParser.parseSkeleton(DART_DATA_PATH "/urdf/wam/wam.urdf");
return wam;
}
//==============================================================================
void setStartupConfiguration(const dart::dynamics::SkeletonPtr& wam)
{
wam->getDof("/j1")->setPosition(0.0);
wam->getDof("/j2")->setPosition(0.0);
wam->getDof("/j3")->setPosition(0.0);
wam->getDof("/j4")->setPosition(0.0);
wam->getDof("/j5")->setPosition(0.0);
wam->getDof("/j6")->setPosition(0.0);
wam->getDof("/j7")->setPosition(0.0);
}
//==============================================================================
void setupEndEffectors(const dart::dynamics::SkeletonPtr& wam)
{
Eigen::Vector3d linearBounds
= Eigen::Vector3d::Constant(std::numeric_limits<double>::infinity());
Eigen::Vector3d angularBounds
= Eigen::Vector3d::Constant(std::numeric_limits<double>::infinity());
Eigen::Isometry3d tf_hand(Eigen::Isometry3d::Identity());
tf_hand.translate(Eigen::Vector3d(0.0, 0.0, -0.09));
dart::dynamics::EndEffector* ee
= wam->getBodyNode("/wam7")->createEndEffector("ee");
ee->setDefaultRelativeTransform(tf_hand, true);
auto wam7_target = std::make_shared<dart::gui::osg::InteractiveFrame>(
dart::dynamics::Frame::World(), "lh_target");
ee->getIK(true)->setTarget(wam7_target);
std::stringstream ss;
ss << DART_SHARED_LIB_PREFIX << "wamIk";
#if (DART_OS_LINUX || DART_OS_MACOS) && !NDEBUG
ss << "d";
#endif
ss << "." << DART_SHARED_LIB_EXTENSION;
std::string libName = ss.str();
std::vector<std::size_t> ikFastDofs{0, 1, 3, 4, 5, 6};
std::vector<std::size_t> ikFastFreeDofs{2};
ee->getIK()->setGradientMethod<dart::dynamics::SharedLibraryIkFast>(
libName, ikFastDofs, ikFastFreeDofs);
ee->getIK()->getErrorMethod().setLinearBounds(-linearBounds, linearBounds);
ee->getIK()->getErrorMethod().setAngularBounds(-angularBounds, angularBounds);
}
//==============================================================================
void enableDragAndDrops(
dart::gui::osg::Viewer& viewer, const dart::dynamics::SkeletonPtr& wam)
{
// Turn on drag-and-drop for the whole Skeleton
for (std::size_t i = 0; i < wam->getNumBodyNodes(); ++i)
viewer.enableDragAndDrop(wam->getBodyNode(i), false, false);
for (std::size_t i = 0; i < wam->getNumEndEffectors(); ++i)
{
dart::dynamics::EndEffector* ee = wam->getEndEffector(i);
if (!ee->getIK())
continue;
// Check whether the target is an interactive frame, and add it if it is
const auto& frame
= std::dynamic_pointer_cast<dart::gui::osg::InteractiveFrame>(
ee->getIK()->getTarget());
if (frame)
viewer.enableDragAndDrop(frame.get());
}
}
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