Feature rdx-val integration #409
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# Conflicts: # ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/interactable/RDXHumanoidDoFsWidgets.java
fixed few bugs around rdx
LuigiPenco93
commented
Oct 21, 2024
| @@ -171,6 +163,14 @@ public void update(boolean interactablesEnabled) | |||
| desiredHandPoseChanged |= armIKSolvers.get(side).getDesiredHandControlPoseChanged(); | |||
| } | |||
| } | |||
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fixed bug, if the wrench calculator is null, it will skip the armIKSolver part. This means that the IK for the selectable hand didn't work if the robot has no hand
| @@ -81,17 +81,17 @@ public RDXDualBlackflyProjection(HumanoidReferenceFrames currentRobotFrames) | |||
| { | |||
| this.baseUI = RDXBaseUI.getInstance(); | |||
| this.robotZUpFrame = currentRobotFrames.getMidFootZUpGroundFrame(); | |||
| robotCameraFrames.set(currentRobotFrames::getSituationalAwarenessCameraFrame); | |||
| robotCameraFrames.set(currentRobotFrames::getStereoCameraFrame); | |||
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renamed to stereo camera, as it's a better description of what those cameras are. Especially considering that we are dropping the blackflies
| @@ -97,7 +97,7 @@ public RDXRobotCollidable(FrameShape3DReadOnly shape, | |||
| linkFrame = syncedLinkFrame; | |||
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| RigidBodyTransform collisionToLinkFrameTransform = new RigidBodyTransform(); | |||
| collisionShapeFrame = new MutableReferenceFrame("collisionShapeFrame" + rigidBodyName, linkFrame); | |||
| collisionShapeFrame = new MutableReferenceFrame("collisionShapeFrame" + rigidBodyName + collidableIndex, linkFrame); | |||
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need the index for robots like valkyrie which have multiple collidables per single rigid body
| @@ -112,45 +102,6 @@ public void create() | |||
| cameraForTracking = cameraForTrackingSupplier.get(); | |||
| getMultiBodyGraphic().loadRobotModelAndGraphics(syncedRobot.getRobotModel().getRobotDefinition(), syncedRobot.getFullRobotModel().getElevator()); | |||
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extracted all robot specific sensors
| @@ -228,14 +226,32 @@ public void create(boolean createToolbox) | |||
| parameters.getDefaultSolverConfiguration().setJointVelocityWeight(0.05); | |||
| parameters.getDefaultSolverConfiguration().setJointAccelerationWeight(0.0); // As soon as we increase this guy, we inject springy behavior. | |||
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| parameters.getDefaultSolverConfiguration().setEnableJointVelocityLimits(false); | |||
| parameters.getDefaultSolverConfiguration().setEnableJointVelocityLimits(true); | |||
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| if (robotModel != null) | |||
| { | |||
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made it general for any robot
| initialConfigMessage.getInitialJointAngles().set(shzIndex, robotSide.negateIfRightSide(-0.5f)); | ||
| initialConfigMessage.getInitialJointAngles().set(elyIndex, -2.2f); | ||
| // TODO add also default for wrist joints if they exist | ||
| List<ArmJointName> armJointNames = Arrays.asList(ArmJointName.SHOULDER_PITCH, ArmJointName.SHOULDER_ROLL, ArmJointName.SHOULDER_YAW, |
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generality for all robots
| @@ -7,47 +7,23 @@ public enum VRTrackedSegmentType | |||
| { | |||
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extracted robot specific parameters
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