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Hi-ROS OpenSim IK Solver

Dependencies

Patch OpenSim

Before running the ROS node OpenSim must be patched.

Add the following code in OpenSim InverseKinematicsSolver.h:

inline void updateMarkersReference(std::shared_ptr<MarkersReference> newMarkersReference)
{
    _markersReference = newMarkersReference;
}
inline void updateOrientationsReference(std::shared_ptr<OrientationsReference> newOrientationsReference)
{
    _orientationsReference = newOrientationsReference;
}

inline void updateMarkersWeight(const SimTK::Real& newMarkersWeight)
{
    _markers_weight = newMarkersWeight;
}
inline void updateOrientationsWeight(const SimTK::Real& newOrientationsWeight)
{
    _orientations_weight = newOrientationsWeight;
}
// Markers/orientations relative weights
SimTK::Real _markers_weight{1.};
SimTK::Real _orientations_weight{1.};

Edit the following lines in OpenSim InverseKinematicsSolver.cpp:

updAssembler().adoptAssemblyGoal(condOwner.release(), _markers_weight);
updAssembler().adoptAssemblyGoal(condOwner.release(), _orientations_weight);

Usage

Skeleton's marker names must correspond to the virtual markers defined in the model. Skeleton's link names must correspond to the virtual IMUs defined in the model.

ros2 launch hiros_opensim_ik_solver default.launch.py

Citation

Please cite the following paper:

M. Guidolin, M. Vanuzzo, S. Michieletto and M. Reggiani, "Enhancing Real-Time Body Pose Estimation in Occluded Environments Through Multimodal Musculoskeletal Modeling," in IEEE Robotics and Automation Letters, vol. 9, no. 12, pp. 10748-10755.

Bib citation source:

@ARTICLE{10714023,
  author={Guidolin, Mattia and Vanuzzo, Michael and Michieletto, Stefano and Reggiani, Monica},
  journal={IEEE Robotics and Automation Letters}, 
  title={Enhancing Real-Time Body Pose Estimation in Occluded Environments Through Multimodal Musculoskeletal Modeling}, 
  year={2024},
  volume={9},
  number={12},
  pages={10748-10755},
  keywords={Real-time systems;Accuracy;Optimization;Biological system modeling;Pose estimation;Cameras;Robot sensing systems;Safety;Biomechanics;Tracking;Human detection and tracking;human-robot collaboration;multi-modal perception for HRI;RGB-D perception;sensor fusion},
  doi={10.1109/LRA.2024.3478569}
}

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