add contact-aware odometry source

Author: schmidma

Cargo.lock

@@ -67,6 +67,7 @@ members = [
   "crates/nodes/microphone_recorder",
   "crates/nodes/motor_commands_collector",
   "crates/nodes/obstacle_filter",
+  "crates/nodes/odometry",
   "crates/nodes/odometer_bridge",
   "crates/nodes/player_states_receiver",
   "crates/nodes/primary_state_filter",
@@ -271,6 +272,7 @@ num-derive = "0.4.2"
 num-dual = "0.13.2"
 num-traits = "0.2"
 obstacle_filter = { path = "crates/nodes/obstacle_filter" }
+odometry = { path = "crates/nodes/odometry" }
 odometer_bridge = { path = "crates/nodes/odometer_bridge" }
 once_cell = "1.20.3"
 openvino = { version = "0.8.0", features = ["runtime-linking"] }

Cargo.toml

@@ -41,6 +41,12 @@ generate_coordinate_system!(
     /// Origin: center between [LeftSole] and [RightSole], projected onto the ground.
     /// X axis pointing forward
     Ground,
+    /// 2D odometry frame fixed at the startup pose of one odometry source.
+    ///
+    /// Origin: robot [Ground] frame when the odometry source starts.
+    /// X axis pointing along the startup ground-frame X axis.
+    /// Y axis pointing along the startup ground-frame Y axis.
+    Odometry,
     /// coordinate system used to express feet positions in the walking engine.
     ///
     /// Origin: below the robot's hip

crates/coordinate_systems/src/lib.rs

@@ -42,6 +42,7 @@ message_handler = { workspace = true }
 microphone_recorder = { workspace = true }
 motor_commands_collector = { workspace = true }
 obstacle_filter = { workspace = true }
+odometry = { workspace = true }
 odometer_bridge = { workspace = true }
 player_states_receiver = { workspace = true }
 primary_state_filter = { workspace = true }

crates/hulk_ros_z/Cargo.toml

@@ -166,6 +166,7 @@ async fn spawn_all(ctx: Arc<Context>, log_path: Option<PathBuf>) -> Result<Runni
     join_set.spawn(motor_commands_collector::run_boxed(ctx.clone()));
     join_set.spawn(obstacle_filter::run_boxed(ctx.clone()));
     join_set.spawn(odometer_bridge::run_boxed(ctx.clone()));
+    join_set.spawn(odometry::run_boxed(ctx.clone()));
     join_set.spawn(player_states_receiver::run_boxed(ctx.clone()));
     join_set.spawn(primary_state_filter::run_boxed(ctx.clone()));
     join_set.spawn(visual_kick_ball_selector::run_boxed(ctx.clone()));

crates/hulk_ros_z/src/main.rs

@@ -4,3 +4,4 @@ pub mod joints_velocity;
 pub mod robot_dimensions;
 pub mod robot_kinematics;
 pub mod robot_masses;
+pub mod sole_contact;

crates/kinematics/src/lib.rs

@@ -0,0 +1,234 @@
+use coordinate_systems::Robot;
+use linear_algebra::{Isometry3, Orientation3, Point3, Vector2, nalgebra};
+
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub enum SoleSide {
+    Left,
+    Right,
+}
+
+#[derive(Clone, Copy, Debug)]
+pub struct SoleContact {
+    pub min_z: f32,
+    pub contact_xy_in_leveled_robot: Vector2<Robot>,
+    pub candidate_count: usize,
+}
+
+#[derive(Clone, Copy, Debug)]
+pub struct SupportSelectionParameters {
+    pub double_support_deadband: f32,
+    pub support_switch_hysteresis: f32,
+}
+
+pub fn estimate_sole_contact<Sole>(
+    sole_to_robot: Isometry3<Sole, Robot>,
+    roll: f32,
+    pitch: f32,
+    vertices: &[Point3<Sole>],
+    contact_height_epsilon: f32,
+) -> Option<SoleContact> {
+    if vertices.is_empty() {
+        return None;
+    }
+
+    struct Level;
+
+    let level_to_robot =
+        Isometry3::<Level, Robot>::from(Orientation3::from_euler_angles(roll, pitch, 0.0).mirror());
+    let robot_to_level = level_to_robot.inverse();
+
+    let vertices_in_level = vertices
+        .iter()
+        .map(|vertex| robot_to_level * (sole_to_robot * *vertex))
+        .collect::<Vec<_>>();
+    let min_z = vertices_in_level
+        .iter()
+        .map(|vertex| vertex.z())
+        .fold(f32::INFINITY, f32::min);
+
+    let candidates = vertices_in_level
+        .iter()
+        .filter(|vertex| vertex.z() <= min_z + contact_height_epsilon)
+        .collect::<Vec<_>>();
+    let candidate_count = candidates.len();
+    if candidate_count == 0 {
+        return None;
+    }
+
+    let contact_xy_sum = candidates
+        .iter()
+        .map(|vertex| vertex.xy().coords().inner)
+        .sum::<nalgebra::Vector2<f32>>();
+    let contact_xy = contact_xy_sum / candidate_count as f32;
+
+    Some(SoleContact {
+        min_z,
+        contact_xy_in_leveled_robot: Vector2::wrap(contact_xy),
+        candidate_count,
+    })
+}
+
+pub fn select_support_side(
+    left_contact: SoleContact,
+    right_contact: SoleContact,
+    previous_support_side: Option<SoleSide>,
+    parameters: SupportSelectionParameters,
+) -> Option<SoleSide> {
+    let height_difference = left_contact.min_z - right_contact.min_z;
+
+    if height_difference.abs() < parameters.double_support_deadband {
+        return None;
+    }
+
+    match previous_support_side {
+        Some(SoleSide::Left) if height_difference < parameters.support_switch_hysteresis => {
+            Some(SoleSide::Left)
+        }
+        Some(SoleSide::Right) if height_difference > -parameters.support_switch_hysteresis => {
+            Some(SoleSide::Right)
+        }
+        _ if height_difference < 0.0 => Some(SoleSide::Left),
+        _ => Some(SoleSide::Right),
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use linear_algebra::{IntoTransform, nalgebra, point, vector};
+
+    #[derive(Clone, Copy, Debug)]
+    struct Sole;
+
+    fn vertices() -> [Point3<Sole>; 4] {
+        [
+            point![<Sole>, 0.1, 0.05, 0.0],
+            point![<Sole>, 0.1, -0.05, 0.0],
+            point![<Sole>, -0.1, 0.05, 0.0],
+            point![<Sole>, -0.1, -0.05, 0.0],
+        ]
+    }
+
+    #[test]
+    fn flat_sole_uses_all_vertices_and_center_contact() {
+        let contact = estimate_sole_contact(Isometry3::identity(), 0.0, 0.0, &vertices(), 0.001)
+            .expect("flat sole has a contact");
+
+        assert_eq!(contact.candidate_count, 4);
+        assert!((contact.contact_xy_in_leveled_robot.x() - 0.0).abs() < 1.0e-6);
+        assert!((contact.contact_xy_in_leveled_robot.y() - 0.0).abs() < 1.0e-6);
+    }
+
+    #[test]
+    fn toe_down_pitch_uses_front_vertices() {
+        let sole_to_robot = nalgebra::Isometry3::from_parts(
+            nalgebra::Translation3::identity(),
+            nalgebra::UnitQuaternion::from_euler_angles(0.0, 0.2, 0.0),
+        )
+        .framed_transform();
+
+        let contact = estimate_sole_contact(sole_to_robot, 0.0, 0.0, &vertices(), 0.001)
+            .expect("toe-down sole has a contact");
+
+        assert_eq!(contact.candidate_count, 2);
+        assert!(contact.contact_xy_in_leveled_robot.x() > 0.09);
+    }
+
+    #[test]
+    fn heel_down_pitch_uses_rear_vertices() {
+        let sole_to_robot = nalgebra::Isometry3::from_parts(
+            nalgebra::Translation3::identity(),
+            nalgebra::UnitQuaternion::from_euler_angles(0.0, -0.2, 0.0),
+        )
+        .framed_transform();
+
+        let contact = estimate_sole_contact(sole_to_robot, 0.0, 0.0, &vertices(), 0.001)
+            .expect("heel-down sole has a contact");
+
+        assert_eq!(contact.candidate_count, 2);
+        assert!(contact.contact_xy_in_leveled_robot.x() < -0.09);
+    }
+
+    #[test]
+    fn side_down_roll_uses_left_vertices() {
+        let sole_to_robot = nalgebra::Isometry3::from_parts(
+            nalgebra::Translation3::identity(),
+            nalgebra::UnitQuaternion::from_euler_angles(0.2, 0.0, 0.0),
+        )
+        .framed_transform();
+
+        let contact = estimate_sole_contact(sole_to_robot, 0.0, 0.0, &vertices(), 0.001)
+            .expect("side-down sole has a contact");
+
+        assert_eq!(contact.candidate_count, 2);
+        assert!(contact.contact_xy_in_leveled_robot.y().abs() > 0.04);
+    }
+
+    #[test]
+    fn corner_down_combined_roll_and_pitch_uses_one_vertex() {
+        let sole_to_robot = nalgebra::Isometry3::from_parts(
+            nalgebra::Translation3::identity(),
+            nalgebra::UnitQuaternion::from_euler_angles(0.2, 0.2, 0.0),
+        )
+        .framed_transform();
+
+        let contact = estimate_sole_contact(sole_to_robot, 0.0, 0.0, &vertices(), 0.001)
+            .expect("corner-down sole has a contact");
+
+        assert_eq!(contact.candidate_count, 1);
+        assert!(contact.contact_xy_in_leveled_robot.x() > 0.09);
+        assert!(contact.contact_xy_in_leveled_robot.y().abs() > 0.04);
+    }
+
+    #[test]
+    fn double_support_deadband_returns_none() {
+        let left = SoleContact {
+            min_z: 0.0,
+            contact_xy_in_leveled_robot: vector![<Robot>, 0.0, 0.0],
+            candidate_count: 4,
+        };
+        let right = SoleContact {
+            min_z: 0.002,
+            contact_xy_in_leveled_robot: vector![<Robot>, 0.0, 0.0],
+            candidate_count: 4,
+        };
+
+        let side = select_support_side(
+            left,
+            right,
+            None,
+            SupportSelectionParameters {
+                double_support_deadband: 0.003,
+                support_switch_hysteresis: 0.004,
+            },
+        );
+
+        assert_eq!(side, None);
+    }
+
+    #[test]
+    fn hysteresis_keeps_previous_side_near_switch_threshold() {
+        let left = SoleContact {
+            min_z: 0.003,
+            contact_xy_in_leveled_robot: vector![<Robot>, 0.0, 0.0],
+            candidate_count: 2,
+        };
+        let right = SoleContact {
+            min_z: 0.0,
+            contact_xy_in_leveled_robot: vector![<Robot>, 0.0, 0.0],
+            candidate_count: 2,
+        };
+
+        let side = select_support_side(
+            left,
+            right,
+            Some(SoleSide::Left),
+            SupportSelectionParameters {
+                double_support_deadband: 0.001,
+                support_switch_hysteresis: 0.004,
+            },
+        );
+
+        assert_eq!(side, Some(SoleSide::Left));
+    }
+}

crates/kinematics/src/sole_contact.rs

@@ -6,7 +6,6 @@ license.workspace = true
 homepage.workspace = true
 
 [dependencies]
-booster.workspace = true
 color-eyre = { workspace = true }
 coordinate_systems = { workspace = true }
 filtering = { workspace = true }