int main(int argc, char* argv[]) { //////////////////////////////////////////////////////////////////////////// /// SETUP WORLD //////////////////////////////////////////////////////////////////////////// // load a robot DartLoader dart_loader; string robot_file = VRC_DATA_PATH; robot_file = argv[1]; World *mWorld = dart_loader.parseWorld(VRC_DATA_PATH ROBOT_URDF); SkeletonDynamics *robot = mWorld->getSkeleton("atlas"); atlas_state_t state; state.init(robot); atlas_kinematics_t kin; kin.init(robot); robot->setPose(robot->getPose().setZero()); // load a skeleton file FileInfoSkel<SkeletonDynamics> model; model.loadFile(VRC_DATA_PATH"/models/skel/ground1.skel", SKEL); SkeletonDynamics *ground = dynamic_cast<SkeletonDynamics *>(model.getSkel()); ground->setName("ground"); mWorld->addSkeleton(ground); // Zero atlas's feet at ground kinematics::BodyNode* foot = robot->getNode(ROBOT_LEFT_FOOT); kinematics::Shape* shoe = foot->getCollisionShape(); double body_z = -shoe->getTransform().matrix()(2,3) + shoe->getDim()(2)/2; body_z += -foot->getWorldTransform()(2,3); VectorXd robot_dofs = robot->getPose(); cout << "body_z = " << body_z << endl; state.dofs(2) = body_z; robot->setPose(state.dart_pose()); cout << robot->getNode(ROBOT_BODY)->getWorldTransform() << endl; // Zero ground double ground_z = ground->getNode("ground1_root")->getCollisionShape()->getDim()(2)/2; ground->getNode("ground1_root")->getVisualizationShape()->setColor(Vector3d(0.5,0.5,0.5)); VectorXd ground_dofs = ground->getPose(); ground_dofs(1) = foot->getWorldTransform()(1,3); ground_dofs(2) = -ground_z; cout << "ground z = " << ground_z << endl; ground->setPose(ground_dofs); //////////////////////////////////////////////////////////////////////////// /// COM IK //////////////////////////////////////////////////////////////////////////// Vector3d world_com; Isometry3d end_effectors[NUM_MANIPULATORS]; IK_Mode mode[NUM_MANIPULATORS]; BodyNode* left_foot = state.robot()->getNode(ROBOT_LEFT_FOOT); BodyNode* right_foot = state.robot()->getNode(ROBOT_RIGHT_FOOT); end_effectors[MANIP_L_FOOT] = state.robot()->getNode(ROBOT_LEFT_FOOT)->getWorldTransform(); end_effectors[MANIP_R_FOOT] = state.robot()->getNode(ROBOT_RIGHT_FOOT)->getWorldTransform(); mode[MANIP_L_FOOT] = IK_MODE_SUPPORT; mode[MANIP_R_FOOT] = IK_MODE_WORLD; mode[MANIP_L_HAND] = IK_MODE_FIXED; mode[MANIP_R_HAND] = IK_MODE_FIXED; world_com = state.robot()->getWorldCOM(); world_com(2) -= 0.1; Isometry3d body; state.get_body(body); body.rotate(AngleAxisd(M_PI/4, Vector3d::UnitY())); state.set_body(body); kin.com_ik(world_com, end_effectors, mode, state); robot->setPose(state.dart_pose()); MyWindow window; window.setWorld(mWorld); glutInit(&argc, argv); window.initWindow(640, 480, "Robot Viz"); glutMainLoop(); }