RobOptim toolbox aiming at processing Motion Capture Data and in particular retarget motion capture data in order to allow a particular robot to replace the motion.
This toolbox relies on the following software:
- Choreonoid (rigid body computation)
- libmocap (motion capture data loading)
Optionally, if metapod is available, some constraints have also been implemented using this library.
It provides three command-line tools which are in fact the three steps of the conversion process:
- roboptim-retargeting-markers
- roboptim-retargeting-marker-to-joint-converter
- roboptim-retargeting-joints
The marker optimization optimizes the markers positions in the Euclidian space. If the motion capture matches a human skeleton, this step will adapt the markers positions at each frame to make it match the robot morphology.
Marker to Joint converter converts marker positions to joints trajectories of a particular robot.
The joint optimization will, at least, reshape the joint trajectories to satisfy robotics constraints such as balance (ZMP), actuators limits (position, velocity, torque).
All functions are placed into the
include/roboptim/retargeting/function folder.
#include <roboptim/retargeting/function/acceleration.hh
Use StateFunction to compute each joint/marker acceleration over three frames. This function can be used to penalize large motion as a cost function.
#include <roboptim/retargeting/function/marker-laplacian-deformation-energy/choreonoid.hh>
Compute the Marker Laplacian Deformation Energy for markers.
#include <roboptim/retargeting/function/body-laplacian-deformation-energy/choreonoid.hh>
Compute the Marker Laplacian Deformation Energy for bodies.
#include <roboptim/retargeting/function/bone-length/choreonoid.hh>
Compute bone length for each segment and compare it to the robot segments.
#include <roboptim/retargeting/function/joint-limits/choreonoid.hh>
Compute joints positions and/or velocities and make sure they are in the actuators limits.
#include <roboptim/retargeting/function/torque/choreonoid.hh>
Compute joints torques and make sure they are in the actuators limits.
#include <roboptim/retargeting/function/forward-geometry/choreonoid.hh>
Force a particular body to stay at the correct location. Typically, it is used to force the feet on the floor.
#include <roboptim/retargeting/function/zmp/choreonoid.hh>
Compute the Zero-Momentum Point attached with the robot. If it stays in the support-polygon then the motion will remain balanced.
Cost: Laplacian Deformation Energy (marker-based) and optionally acceleration.
Constraints:
- Bone Length (linear function)
Cost: Laplacian Deformation Energy (joint-based) and optionally acceleration.
Constraints:
- Joint Limits (position, velocity)
- Body Position (feet on the ground)
- Torque
- ZMP
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent