int main(int argc, char* argv[]) { // Create empty soft world World* myWorld = new World; // Load ground and Atlas robot and add them to the world DartLoader urdfLoader; Skeleton* ground = urdfLoader.parseSkeleton( DART_DATA_PATH"sdf/atlas/ground.urdf"); // Skeleton* atlas = SoftSdfParser::readSkeleton( // DART_DATA_PATH"sdf/atlas/atlas_v3_no_head.sdf"); Skeleton* atlas = SoftSdfParser::readSkeleton( DART_DATA_PATH"sdf/atlas/atlas_v3_no_head_soft_feet.sdf"); myWorld->addSkeleton(atlas); myWorld->addSkeleton(ground); // Set initial configuration for Atlas robot VectorXd q = atlas->getConfigs(); q[0] = -0.5 * DART_PI; atlas->setConfigs(q, true, true, false); // Set gravity of the world myWorld->setGravity(Vector3d(0.0, -9.81, 0.0)); // Create a window and link it to the world MyWindow window(new Controller(atlas, myWorld->getConstraintSolver())); window.setWorld(myWorld); // Print manual cout << "space bar: simulation on/off" << endl; cout << "'p': playback/stop" << endl; cout << "'[' and ']': play one frame backward and forward" << endl; cout << "'v': visualization on/off" << endl; cout << endl; cout << "'h': harness pelvis on/off" << endl; cout << "'j': harness left foot on/off" << endl; cout << "'k': harness right foot on/off" << endl; cout << "'r': reset robot" << endl; cout << "'n': transite to the next state manually" << endl; cout << endl; cout << "'1': standing controller" << endl; cout << "'2': walking controller" << endl; // Run glut loop glutInit(&argc, argv); window.initWindow(640, 480, "Atlas Robot"); glutMainLoop(); return 0; }
//============================================================================== TEST(InverseKinematics, FittingTransformation) { const double TOLERANCE = 1e-6; #ifdef BUILD_TYPE_RELEASE const size_t numRandomTests = 100; #else const size_t numRandomTests = 10; #endif // Create two link robot const double l1 = 1.5; const double l2 = 1.0; Skeleton* robot = createFreeFloatingTwoLinkRobot( Vector3d(0.3, 0.3, l1), Vector3d(0.3, 0.3, l2), DOF_ROLL); robot->init(); size_t dof = robot->getNumGenCoords(); VectorXd oldConfig = robot->getConfigs(); BodyNode* body1 = robot->getBodyNode(0); BodyNode* body2 = robot->getBodyNode(1); // Joint* joint1 = body1->getParentJoint(); Joint* joint2 = body2->getParentJoint(); //------------------------- Free joint test ---------------------------------- // The parent joint of body1 is free joint so body1 should be able to // transform to arbitrary tramsformation. for (size_t i = 0; i < numRandomTests; ++i) { // Get desiredT2 by transforming body1 to arbitrary transformation Isometry3d desiredT1 = math::expMap(Vector6d::Random()); body1->fitWorldTransform(desiredT1); // Check Isometry3d newT1 = body1->getWorldTransform(); EXPECT_NEAR(math::logMap(newT1.inverse() * desiredT1).norm(), 0.0, TOLERANCE); // Set to initial configuration robot->setConfigs(oldConfig, true, false, false); } //----------------------- Revolute joint test --------------------------------- // The parent joint of body2 is revolute joint so body2 can rotate along the // axis of the revolute joint. for (size_t i = 0; i < numRandomTests; ++i) { // Store the original transformation and joint angle Isometry3d oldT2 = body2->getWorldTransform(); VectorXd oldQ2 = joint2->getConfigs(); // Get desiredT2 by rotating the revolute joint with random angle joint2->setConfigs(VectorXd::Random(1), true, false, false); Isometry3d desiredT2 = body2->getWorldTransform(); // Transform body2 to the original transofrmation and check if it is done // well joint2->setConfigs(oldQ2, true, false, false); EXPECT_NEAR( math::logMap(oldT2.inverse() * body2->getWorldTransform()).norm(), 0.0, TOLERANCE); // Try to find optimal joint angle body2->fitWorldTransform(desiredT2); // Check Isometry3d newT2 = body2->getWorldTransform(); EXPECT_NEAR(math::logMap(newT2.inverse() * desiredT2).norm(), 0.0, TOLERANCE); } //---------------- Revolute joint test with joint limit ---------------------- for (size_t i = 0; i < numRandomTests; ++i) { // Set joint limit joint2->getGenCoord(0)->setConfigMin(DART_RADIAN * 0.0); joint2->getGenCoord(0)->setConfigMax(DART_RADIAN * 15.0); // Store the original transformation and joint angle Isometry3d oldT2 = body2->getWorldTransform(); VectorXd oldQ2 = joint2->getConfigs(); // Get desiredT2 by rotating the revolute joint with random angle out of // the joint limit range joint2->getGenCoord(0)->setConfig(math::random(DART_RADIAN * 15.5, DART_PI)); robot->setConfigs(robot->getConfigs(), true, false, false); Isometry3d desiredT2 = body2->getWorldTransform(); // Transform body2 to the original transofrmation and check if it is done // well joint2->setConfigs(oldQ2, true, false, false); EXPECT_NEAR( math::logMap(oldT2.inverse() * body2->getWorldTransform()).norm(), 0.0, TOLERANCE); // Try to find optimal joint angle without joint limit constraint body2->fitWorldTransform(desiredT2, BodyNode::IKP_PARENT_JOINT, false); // Check if the optimal body2 transformation is reached to the desired one Isometry3d newT2 = body2->getWorldTransform(); EXPECT_NEAR(math::logMap(newT2.inverse() * desiredT2).norm(), 0.0, TOLERANCE); // Try to find optimal joint angle with joint limit constraint body2->fitWorldTransform(desiredT2, BodyNode::IKP_PARENT_JOINT, true); // Check if the optimal joint anlge is in the range double newQ2 = joint2->getGenCoord(0)->getConfig(); EXPECT_GE(newQ2, DART_RADIAN * 0.0); EXPECT_LE(newQ2, DART_RADIAN * 15.0); } }
//============================================================================== void DynamicsTest::compareAccelerations(const std::string& _fileName) { using namespace std; using namespace Eigen; using namespace dart; using namespace math; using namespace dynamics; using namespace simulation; using namespace utils; //----------------------------- Settings ------------------------------------- const double TOLERANCE = 1.0e-2; #ifndef NDEBUG // Debug mode int nRandomItr = 2; #else int nRandomItr = 10; #endif double qLB = -0.5 * DART_PI; double qUB = 0.5 * DART_PI; double dqLB = -0.5 * DART_PI; double dqUB = 0.5 * DART_PI; double ddqLB = -0.5 * DART_PI; double ddqUB = 0.5 * DART_PI; Vector3d gravity(0.0, -9.81, 0.0); double timeStep = 1.0e-6; // load skeleton World* world = SkelParser::readWorld(_fileName); assert(world != NULL); world->setGravity(gravity); world->setTimeStep(timeStep); //------------------------------ Tests --------------------------------------- for (int i = 0; i < world->getNumSkeletons(); ++i) { Skeleton* skeleton = world->getSkeleton(i); assert(skeleton != NULL); int dof = skeleton->getNumGenCoords(); for (int j = 0; j < nRandomItr; ++j) { // Generate a random state and ddq VectorXd q = VectorXd(dof); VectorXd dq = VectorXd(dof); VectorXd ddq = VectorXd(dof); for (int k = 0; k < dof; ++k) { q[k] = math::random(qLB, qUB); dq[k] = math::random(dqLB, dqUB); ddq[k] = math::random(ddqLB, ddqUB); // q[k] = 0.0; // dq[k] = 0.0; // ddq[k] = 0.0; } VectorXd x = VectorXd::Zero(dof * 2); x << q, dq; skeleton->setState(x, true, true, false); skeleton->setGenAccs(ddq, true); // Integrate state skeleton->integrateConfigs(timeStep); skeleton->integrateGenVels(timeStep); VectorXd qNext = skeleton->getConfigs(); VectorXd dqNext = skeleton->getGenVels(); VectorXd xNext = VectorXd::Zero(dof * 2); xNext << qNext, dqNext; // For each body node for (int k = 0; k < skeleton->getNumBodyNodes(); ++k) { BodyNode* bn = skeleton->getBodyNode(k); int nDepGenCoord = bn->getNumDependentGenCoords(); // Calculation of velocities and Jacobian at k-th time step skeleton->setState(x, true, true, false); skeleton->setGenAccs(ddq, true); Vector6d vBody1 = bn->getBodyVelocity(); Vector6d vWorld1 = bn->getWorldVelocity(); MatrixXd JBody1 = bn->getBodyJacobian(); MatrixXd JWorld1 = bn->getWorldJacobian(); Isometry3d T1 = bn->getWorldTransform(); // Get accelerations and time derivatives of Jacobians at k-th time step Vector6d aBody1 = bn->getBodyAcceleration(); Vector6d aWorld1 = bn->getWorldAcceleration(); MatrixXd dJBody1 = bn->getBodyJacobianTimeDeriv(); MatrixXd dJWorld1 = bn->getWorldJacobianTimeDeriv(); // Calculation of velocities and Jacobian at (k+1)-th time step skeleton->setState(xNext, true, true, false); skeleton->setGenAccs(ddq, true); Vector6d vBody2 = bn->getBodyVelocity(); Vector6d vWorld2 = bn->getWorldVelocity(); MatrixXd JBody2 = bn->getBodyJacobian(); MatrixXd JWorld2 = bn->getWorldJacobian(); Isometry3d T2 = bn->getWorldTransform(); // Get accelerations and time derivatives of Jacobians at k-th time step Vector6d aBody2 = bn->getBodyAcceleration(); Vector6d aWorld2 = bn->getWorldAcceleration(); MatrixXd dJBody2 = bn->getBodyJacobianTimeDeriv(); MatrixXd dJWorld2 = bn->getWorldJacobianTimeDeriv(); // Calculation of approximated accelerations and time derivatives of // Jacobians Vector6d aBodyApprox = (vBody2 - vBody1) / timeStep; Vector6d aWorldApprox = (vWorld2 - vWorld1) / timeStep; // TODO(JS): Finite difference of Jacobian test is not implemented yet. // MatrixXd dJBodyApprox = (JBody2 - JBody1) / timeStep; // MatrixXd dJWorldApprox = (JWorld2 - JWorld1) / timeStep; // MatrixXd dJBodyApprox = MatrixXd::Zero(6, nDepGenCoord); // MatrixXd dJWorldApprox = MatrixXd::Zero(6, nDepGenCoord); // for (int l = 0; l < nDepGenCoord; ++l) // { // skeleton->setConfig(q); // Jacobian JBody_a = bn->getBodyJacobian(); // int idx = bn->getDependentGenCoordIndex(l); // VectorXd qGrad = q; // qGrad[idx] = qNext[idx]; // skeleton->setConfig(qGrad); // Jacobian JBody_b = bn->getBodyJacobian(); // Jacobian dJBody_dq = (JBody_b - JBody_a) / (qNext[idx] - q[idx]); // dJBodyApprox += dJBody_dq * dq[idx]; // } // Comparing two velocities EXPECT_TRUE(equals(aBody1, aBodyApprox, TOLERANCE)); EXPECT_TRUE(equals(aBody2, aBodyApprox, TOLERANCE)); EXPECT_TRUE(equals(aWorld1, aWorldApprox, TOLERANCE)); EXPECT_TRUE(equals(aWorld2, aWorldApprox, TOLERANCE)); // EXPECT_TRUE(equals(dJBody1, dJBodyApprox, TOLERANCE)); // EXPECT_TRUE(equals(dJBody2, dJBodyApprox, TOLERANCE)); // EXPECT_TRUE(equals(dJWorld1, dJWorldApprox, TOLERANCE)); // EXPECT_TRUE(equals(dJWorld2, dJWorldApprox, TOLERANCE)); // Debugging code if (!equals(aBody1, aBodyApprox, TOLERANCE)) { cout << "aBody1 :" << aBody1.transpose() << endl; cout << "aBodyApprox:" << aBodyApprox.transpose() << endl; } if (!equals(aBody2, aBodyApprox, TOLERANCE)) { cout << "aBody2 :" << aBody2.transpose() << endl; cout << "aBodyApprox:" << aBodyApprox.transpose() << endl; } if (!equals(aWorld1, aWorldApprox, TOLERANCE)) { cout << "aWorld1 :" << aWorld1.transpose() << endl; cout << "aWorldApprox:" << aWorldApprox.transpose() << endl; } if (!equals(aWorld2, aWorldApprox, TOLERANCE)) { cout << "aWorld2 :" << aWorld2.transpose() << endl; cout << "aWorldApprox:" << aWorldApprox.transpose() << endl; } // if (!equals(dJBody1, dJBodyApprox, TOLERANCE)) // { // cout << "Name :" << bn->getName() << endl; // cout << "dJBody1 :" << endl << dJBody1 << endl; // cout << "dJBodyApprox:" << endl << dJBodyApprox << endl; // } // if (!equals(dJBody2, dJBodyApprox, TOLERANCE)) // { // cout << "dJBody2:" << endl << dJBody2.transpose() << endl; // cout << "dJBodyApprox:" << endl << dJBodyApprox.transpose() << endl; // } // if (!equals(dJWorld1, dJWorldApprox, TOLERANCE)) // { // cout << "dJWorld1 :" << endl << dJWorld1 << endl; // cout << "dJWorldApprox:" << endl << dJWorldApprox << endl; // } // if (!equals(dJWorld2, dJWorldApprox, TOLERANCE)) // { // cout << "dJWorld2 :" << endl << dJWorld2 << endl; // cout << "dJWorldApprox:" << endl << dJWorldApprox << endl; // } } } } delete world; }