From 764f6c69eaa4dbed7a06f0104b93864bb28c9367 Mon Sep 17 00:00:00 2001 From: "Anthony J. Thibault" Date: Thu, 27 Apr 2017 17:39:25 -0700 Subject: [PATCH] Head input action will override the HMD for IK. --- interface/src/avatar/MyAvatar.cpp | 34 +++++----- interface/src/avatar/MyAvatar.h | 2 +- interface/src/avatar/SkeletonModel.cpp | 37 +++++----- libraries/animation/src/Rig.cpp | 71 ++++---------------- libraries/animation/src/Rig.h | 13 ++-- scripts/developer/tests/viveMotionCapture.js | 44 ++++++++++++ 6 files changed, 97 insertions(+), 104 deletions(-) diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp index 9acbf14242..70d650e7a5 100644 --- a/interface/src/avatar/MyAvatar.cpp +++ b/interface/src/avatar/MyAvatar.cpp @@ -83,21 +83,21 @@ const float MyAvatar::ZOOM_MIN = 0.5f; const float MyAvatar::ZOOM_MAX = 25.0f; const float MyAvatar::ZOOM_DEFAULT = 1.5f; -// 2 meter tall dude (in avatar coordinates) -static const glm::vec3 DEFAULT_AVATAR_MIDDLE_EYE_POS { 0.0f, 0.9f, 0.0f }; +// default values, used when avatar is missing joints... (avatar space) static const glm::quat DEFAULT_AVATAR_MIDDLE_EYE_ROT { Quaternions::Y_180 }; -static const glm::vec3 DEFAULT_AVATAR_HEAD_POS { 0.0f, 0.8f, 0.0f }; +static const glm::vec3 DEFAULT_AVATAR_MIDDLE_EYE_POS { 0.0f, 0.6f, 0.0f }; static const glm::quat DEFAULT_AVATAR_HEAD_ROT { Quaternions::Y_180 }; -static const glm::vec3 DEFAULT_AVATAR_NECK_POS { 0.0f, 0.7f, 0.0f }; +static const glm::vec3 DEFAULT_AVATAR_HEAD_POS { 0.0f, 0.53f, 0.0f }; +static const glm::vec3 DEFAULT_AVATAR_NECK_POS { 0.0f, 0.445f, 0.025f }; static const glm::quat DEFAULT_AVATAR_NECK_ROT { Quaternions::Y_180 }; -static const glm::vec3 DEFAULT_AVATAR_SPINE2_POS { 0.0f, 0.5f, 0.0f }; +static const glm::vec3 DEFAULT_AVATAR_SPINE2_POS { 0.0f, 0.32f, 0.02f }; static const glm::quat DEFAULT_AVATAR_SPINE2_ROT { Quaternions::Y_180}; -static const glm::vec3 DEFAULT_AVATAR_HIPS_POS { 0.0f, 0.05f, 0.0f }; +static const glm::vec3 DEFAULT_AVATAR_HIPS_POS { 0.0f, 0.0f, 0.0f }; static const glm::quat DEFAULT_AVATAR_HIPS_ROT { Quaternions::Y_180 }; -static const glm::vec3 DEFAULT_AVATAR_LEFTFOOT_POS { -0.1f, -0.9f, 0.0f }; // AJT: TODO: WRONG FIX ME -static const glm::quat DEFAULT_AVATAR_LEFTFOOT_ROT { Quaternions::IDENTITY }; // AJT: TODO: WRONG FIX ME -static const glm::vec3 DEFAULT_AVATAR_RIGHTFOOT_POS { 0.1f, -0.9f, 0.0f }; // AJT: TODO: WRONG FIX ME -static const glm::quat DEFAULT_AVATAR_RIGHTFOOT_ROT { Quaternions::IDENTITY }; // AJT: TODO: WRONG FIX ME +static const glm::vec3 DEFAULT_AVATAR_LEFTFOOT_POS { -0.08f, -0.96f, 0.029f}; +static const glm::quat DEFAULT_AVATAR_LEFTFOOT_ROT { -0.40167322754859924f, 0.9154590368270874f, -0.005437685176730156f, -0.023744143545627594f }; +static const glm::vec3 DEFAULT_AVATAR_RIGHTFOOT_POS { 0.08f, -0.96f, 0.029f }; +static const glm::quat DEFAULT_AVATAR_RIGHTFOOT_ROT { -0.4016716778278351f, 0.9154615998268127f, 0.0053307069465518f, 0.023696165531873703f }; MyAvatar::MyAvatar(RigPointer rig) : Avatar(rig), @@ -1433,14 +1433,12 @@ controller::Pose MyAvatar::getSpine2ControllerPoseInAvatarFrame() const { return getSpine2ControllerPoseInWorldFrame().transform(invAvatarMatrix); } -void MyAvatar::setHeadControllerPoseInSensorFrame(const controller::Pose& headPose) { - bool inHmd = qApp->isHMDMode(); - Head* head = getHead(); - if (inHmd) { - _headControllerPoseInSensorFrameCache.set(headPose); - head->setDeltaPitch(headPose.rotation.x); - head->setDeltaYaw(headPose.rotation.y); - head->setDeltaRoll(headPose.rotation.z); +void MyAvatar::setHeadControllerPoseInSensorFrame(const controller::Pose& head) { + if (controller::InputDevice::getLowVelocityFilter()) { + auto oldHeadPose = getHeadControllerPoseInSensorFrame(); + _headControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldHeadPose, head)); + } else { + _headControllerPoseInSensorFrameCache.set(head); } } diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h index 01b6496e12..dc249e0411 100644 --- a/interface/src/avatar/MyAvatar.h +++ b/interface/src/avatar/MyAvatar.h @@ -460,7 +460,7 @@ public: controller::Pose getHipsControllerPoseInAvatarFrame() const; controller::Pose getSpine2ControllerPoseInAvatarFrame() const; - void setHeadControllerPoseInSensorFrame(const controller::Pose& headPose); + void setHeadControllerPoseInSensorFrame(const controller::Pose& head); controller::Pose getHeadControllerPoseInSensorFrame() const; controller::Pose getHeadControllerPoseInWorldFrame() const; controller::Pose getHeadControllerPoseInAvatarFrame() const; diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp index ccee65d3e6..9fad9e09fb 100644 --- a/interface/src/avatar/SkeletonModel.cpp +++ b/interface/src/avatar/SkeletonModel.cpp @@ -107,29 +107,27 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) { Rig::HeadParameters headParams; - if (qApp->isHMDMode()) { - // get HMD position from sensor space into world space, and back into rig space - glm::mat4 worldHMDMat = myAvatar->getSensorToWorldMatrix() * myAvatar->getHMDSensorMatrix(); - glm::mat4 rigToWorld = createMatFromQuatAndPos(getRotation(), getTranslation()); - glm::mat4 worldToRig = glm::inverse(rigToWorld); - glm::mat4 rigHMDMat = worldToRig * worldHMDMat; - - headParams.rigHeadPosition = extractTranslation(rigHMDMat); - headParams.rigHeadOrientation = extractRotation(rigHMDMat); - headParams.worldHeadOrientation = extractRotation(worldHMDMat); + // input action is the highest priority source for head orientation. + auto avatarHeadPose = myAvatar->getHeadControllerPoseInAvatarFrame(); + if (avatarHeadPose.isValid()) { + glm::mat4 rigHeadMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarHeadPose.getRotation(), avatarHeadPose.getTranslation()); + headParams.rigHeadPosition = extractTranslation(rigHeadMat); + headParams.rigHeadOrientation = glmExtractRotation(rigHeadMat); headParams.headEnabled = true; } else { - auto avatarHeadPose = myAvatar->getHeadControllerPoseInAvatarFrame(); - if (avatarHeadPose.isValid()) { - glm::mat4 rigHeadMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarHeadPose.getRotation(), avatarHeadPose.getTranslation()); - headParams.rigHeadPosition = extractTranslation(rigHeadMat); - headParams.rigHeadOrientation = glmExtractRotation(rigHeadMat); - headParams.worldHeadOrientation = myAvatar->getHeadControllerPoseInWorldFrame().getTranslation(); + if (qApp->isHMDMode()) { + // get HMD position from sensor space into world space, and back into rig space + glm::mat4 worldHMDMat = myAvatar->getSensorToWorldMatrix() * myAvatar->getHMDSensorMatrix(); + glm::mat4 rigToWorld = createMatFromQuatAndPos(getRotation(), getTranslation()); + glm::mat4 worldToRig = glm::inverse(rigToWorld); + glm::mat4 rigHMDMat = worldToRig * worldHMDMat; + _rig->computeHeadFromHMD(AnimPose(rigHMDMat), headParams.rigHeadPosition, headParams.rigHeadOrientation); headParams.headEnabled = true; } else { // even though full head IK is disabled, the rig still needs the head orientation to rotate the head up and down in desktop mode. - headParams.rigHeadOrientation = Quaternions::Y_180 * head->getFinalOrientationInLocalFrame(); - headParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame(); + // preMult 180 is necessary to convert from avatar to rig coordinates. + // postMult 180 is necessary to convert head from -z forward to z forward. + headParams.rigHeadOrientation = Quaternions::Y_180 * head->getFinalOrientationInLocalFrame() * Quaternions::Y_180; headParams.headEnabled = false; } } @@ -152,7 +150,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) { headParams.spine2Enabled = false; } - headParams.neckJointIndex = geometry.neckJointIndex; headParams.isTalking = head->getTimeWithoutTalking() <= 1.5f; _rig->updateFromHeadParameters(headParams, deltaTime); @@ -212,7 +209,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) { Model::updateRig(deltaTime, parentTransform); Rig::EyeParameters eyeParams; - eyeParams.worldHeadOrientation = headParams.worldHeadOrientation; eyeParams.eyeLookAt = lookAt; eyeParams.eyeSaccade = head->getSaccade(); eyeParams.modelRotation = getRotation(); @@ -244,7 +240,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) { head->setBaseRoll(glm::degrees(-eulers.z)); Rig::EyeParameters eyeParams; - eyeParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame(); eyeParams.eyeLookAt = lookAt; eyeParams.eyeSaccade = glm::vec3(0.0f); eyeParams.modelRotation = getRotation(); diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp index 53f76d82ff..700761b248 100644 --- a/libraries/animation/src/Rig.cpp +++ b/libraries/animation/src/Rig.cpp @@ -46,7 +46,6 @@ static bool isEqual(const glm::quat& p, const glm::quat& q) { const glm::vec3 DEFAULT_RIGHT_EYE_POS(-0.3f, 0.9f, 0.0f); const glm::vec3 DEFAULT_LEFT_EYE_POS(0.3f, 0.9f, 0.0f); const glm::vec3 DEFAULT_HEAD_POS(0.0f, 0.75f, 0.0f); -const glm::vec3 DEFAULT_NECK_POS(0.0f, 0.70f, 0.0f); void Rig::overrideAnimation(const QString& url, float fps, bool loop, float firstFrame, float lastFrame) { @@ -1020,7 +1019,7 @@ glm::quat Rig::getJointDefaultRotationInParentFrame(int jointIndex) { } void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) { - updateNeckJoint(params.neckJointIndex, params); + updateHeadAnimVars(params); _animVars.set("isTalking", params.isTalking); _animVars.set("notIsTalking", !params.isTalking); @@ -1043,74 +1042,40 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) { } void Rig::updateFromEyeParameters(const EyeParameters& params) { - updateEyeJoint(params.leftEyeJointIndex, params.modelTranslation, params.modelRotation, - params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade); - updateEyeJoint(params.rightEyeJointIndex, params.modelTranslation, params.modelRotation, - params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade); + updateEyeJoint(params.leftEyeJointIndex, params.modelTranslation, params.modelRotation, params.eyeLookAt, params.eyeSaccade); + updateEyeJoint(params.rightEyeJointIndex, params.modelTranslation, params.modelRotation, params.eyeLookAt, params.eyeSaccade); } -void Rig::computeHeadNeckAnimVars(const AnimPose& hmdPose, glm::vec3& headPositionOut, glm::quat& headOrientationOut, - glm::vec3& neckPositionOut, glm::quat& neckOrientationOut) const { +void Rig::computeHeadFromHMD(const AnimPose& hmdPose, glm::vec3& headPositionOut, glm::quat& headOrientationOut) const { // the input hmd values are in avatar/rig space const glm::vec3& hmdPosition = hmdPose.trans(); - const glm::quat& hmdOrientation = hmdPose.rot(); + + // the HMD looks down the negative z axis, but the head bone looks down the z axis, so apply a 180 degree rotation. + const glm::quat& hmdOrientation = hmdPose.rot() * Quaternions::Y_180; // TODO: cache jointIndices int rightEyeIndex = indexOfJoint("RightEye"); int leftEyeIndex = indexOfJoint("LeftEye"); int headIndex = indexOfJoint("Head"); - int neckIndex = indexOfJoint("Neck"); glm::vec3 absRightEyePos = rightEyeIndex != -1 ? getAbsoluteDefaultPose(rightEyeIndex).trans() : DEFAULT_RIGHT_EYE_POS; glm::vec3 absLeftEyePos = leftEyeIndex != -1 ? getAbsoluteDefaultPose(leftEyeIndex).trans() : DEFAULT_LEFT_EYE_POS; glm::vec3 absHeadPos = headIndex != -1 ? getAbsoluteDefaultPose(headIndex).trans() : DEFAULT_HEAD_POS; - glm::vec3 absNeckPos = neckIndex != -1 ? getAbsoluteDefaultPose(neckIndex).trans() : DEFAULT_NECK_POS; glm::vec3 absCenterEyePos = (absRightEyePos + absLeftEyePos) / 2.0f; glm::vec3 eyeOffset = absCenterEyePos - absHeadPos; - glm::vec3 headOffset = absHeadPos - absNeckPos; - // apply simplistic head/neck model - - // head headPositionOut = hmdPosition - hmdOrientation * eyeOffset; + headOrientationOut = hmdOrientation; - - // neck - neckPositionOut = hmdPosition - hmdOrientation * (headOffset + eyeOffset); - - // slerp between default orientation and hmdOrientation - neckOrientationOut = safeMix(hmdOrientation, _animSkeleton->getRelativeDefaultPose(neckIndex).rot(), 0.5f); } -void Rig::updateNeckJoint(int index, const HeadParameters& params) { - if (_animSkeleton && index >= 0 && index < _animSkeleton->getNumJoints()) { - glm::quat yFlip180 = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)); +void Rig::updateHeadAnimVars(const HeadParameters& params) { + if (_animSkeleton) { if (params.headEnabled) { - glm::vec3 headPos, neckPos; - glm::quat headRot, neckRot; - - AnimPose hmdPose(glm::vec3(1.0f), params.rigHeadOrientation * yFlip180, params.rigHeadPosition); - computeHeadNeckAnimVars(hmdPose, headPos, headRot, neckPos, neckRot); - - // debug rendering -#ifdef DEBUG_RENDERING - const glm::vec4 red(1.0f, 0.0f, 0.0f, 1.0f); - const glm::vec4 green(0.0f, 1.0f, 0.0f, 1.0f); - - // transform from bone into avatar space - AnimPose headPose(glm::vec3(1), headRot, headPos); - DebugDraw::getInstance().addMyAvatarMarker("headTarget", headPose.rot, headPose.trans, red); - - // transform from bone into avatar space - AnimPose neckPose(glm::vec3(1), neckRot, neckPos); - DebugDraw::getInstance().addMyAvatarMarker("neckTarget", neckPose.rot, neckPose.trans, green); -#endif - - _animVars.set("headPosition", headPos); - _animVars.set("headRotation", headRot); - + _animVars.set("headPosition", params.rigHeadPosition); + _animVars.set("headRotation", params.rigHeadOrientation); if (params.hipsEnabled) { // Since there is an explicit hips ik target, switch the head to use the more generic RotationAndPosition IK chain type. // this will allow the spine to bend more, ensuring that it can reach the head target position. @@ -1120,23 +1085,15 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) { // but because the IK _hipsOffset is enabled, the hips will naturally follow underneath the head. _animVars.set("headType", (int)IKTarget::Type::HmdHead); } - _animVars.set("neckPosition", neckPos); - _animVars.set("neckRotation", neckRot); - _animVars.set("neckType", (int)IKTarget::Type::Unknown); // 'Unknown' disables the target - } else { _animVars.unset("headPosition"); - _animVars.set("headRotation", params.rigHeadOrientation * yFlip180); - _animVars.set("headAndNeckType", (int)IKTarget::Type::RotationOnly); + _animVars.set("headRotation", params.rigHeadOrientation); _animVars.set("headType", (int)IKTarget::Type::RotationOnly); - _animVars.unset("neckPosition"); - _animVars.unset("neckRotation"); - _animVars.set("neckType", (int)IKTarget::Type::RotationOnly); } } } -void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::quat& worldHeadOrientation, const glm::vec3& lookAtSpot, const glm::vec3& saccade) { +void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::vec3& lookAtSpot, const glm::vec3& saccade) { // TODO: does not properly handle avatar scale. diff --git a/libraries/animation/src/Rig.h b/libraries/animation/src/Rig.h index b66ca95042..2d024628f5 100644 --- a/libraries/animation/src/Rig.h +++ b/libraries/animation/src/Rig.h @@ -44,18 +44,15 @@ public: struct HeadParameters { glm::mat4 hipsMatrix = glm::mat4(); // rig space glm::mat4 spine2Matrix = glm::mat4(); // rig space - glm::quat worldHeadOrientation = glm::quat(); // world space (-z forward) glm::quat rigHeadOrientation = glm::quat(); // rig space (-z forward) glm::vec3 rigHeadPosition = glm::vec3(); // rig space bool hipsEnabled = false; bool headEnabled = false; bool spine2Enabled = false; - int neckJointIndex = -1; bool isTalking = false; }; struct EyeParameters { - glm::quat worldHeadOrientation = glm::quat(); glm::vec3 eyeLookAt = glm::vec3(); // world space glm::vec3 eyeSaccade = glm::vec3(); // world space glm::vec3 modelTranslation = glm::vec3(); @@ -232,6 +229,9 @@ public: void setEnableDebugDrawIKTargets(bool enableDebugDrawIKTargets) { _enableDebugDrawIKTargets = enableDebugDrawIKTargets; } + // input assumed to be in rig space + void computeHeadFromHMD(const AnimPose& hmdPose, glm::vec3& headPositionOut, glm::quat& headOrientationOut) const; + signals: void onLoadComplete(); @@ -241,10 +241,9 @@ protected: void applyOverridePoses(); void buildAbsoluteRigPoses(const AnimPoseVec& relativePoses, AnimPoseVec& absolutePosesOut); - void updateNeckJoint(int index, const HeadParameters& params); - void computeHeadNeckAnimVars(const AnimPose& hmdPose, glm::vec3& headPositionOut, glm::quat& headOrientationOut, - glm::vec3& neckPositionOut, glm::quat& neckOrientationOut) const; - void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::quat& worldHeadOrientation, const glm::vec3& lookAt, const glm::vec3& saccade); + void updateHeadAnimVars(const HeadParameters& params); + + void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::vec3& lookAt, const glm::vec3& saccade); void calcAnimAlpha(float speed, const std::vector& referenceSpeeds, float* alphaOut) const; AnimPose _modelOffset; // model to rig space diff --git a/scripts/developer/tests/viveMotionCapture.js b/scripts/developer/tests/viveMotionCapture.js index 4aa5cbf86f..e7fb8566dc 100644 --- a/scripts/developer/tests/viveMotionCapture.js +++ b/scripts/developer/tests/viveMotionCapture.js @@ -26,6 +26,7 @@ Controller.enableMapping(TRIGGER_MAPPING_NAME); var CONTROLLER_MAPPING_NAME = "com.highfidelity.viveMotionCapture.controller"; var controllerMapping; +var head; var leftFoot; var rightFoot; var hips; @@ -77,8 +78,29 @@ function computeDefaultToReferenceXform() { } } +function computeHeadOffsetXform() { + var leftEyeIndex = MyAvatar.getJointIndex("LeftEye"); + var rightEyeIndex = MyAvatar.getJointIndex("RightEye"); + var headIndex = MyAvatar.getJointIndex("Head"); + if (leftEyeIndex > 0 && rightEyeIndex > 0 && headIndex > 0) { + var defaultHeadXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(headIndex), + MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(headIndex)); + var defaultLeftEyeXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(leftEyeIndex), + MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(leftEyeIndex)); + var defaultRightEyeXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(rightEyeIndex), + MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(rightEyeIndex)); + var defaultCenterEyePos = Vec3.multiply(0.5, Vec3.sum(defaultLeftEyeXform.pos, defaultRightEyeXform.pos)); + var defaultCenterEyeXform = new Xform(defaultLeftEyeXform.rot, defaultCenterEyePos); + + return Xform.mul(defaultCenterEyeXform.inv(), defaultHeadXform); + } else { + return undefined; + } +} + function calibrate() { + head = undefined; leftFoot = undefined; rightFoot = undefined; hips = undefined; @@ -86,6 +108,13 @@ function calibrate() { var defaultToReferenceXform = computeDefaultToReferenceXform(); + var headOffsetXform = computeHeadOffsetXform(); + print("AJT: computed headOffsetXform " + (headOffsetXform ? JSON.stringify(headOffsetXform) : "undefined")); + + if (headOffsetXform) { + head = { offsetXform: headOffsetXform }; + } + var poses = []; if (Controller.Hardware.Vive) { TRACKED_OBJECT_POSES.forEach(function (key) { @@ -202,6 +231,7 @@ function update(dt) { // go back to normal, vive pucks will be ignored. print("AJT: UN-CALIBRATE!"); + head = undefined; leftFoot = undefined; rightFoot = undefined; hips = undefined; @@ -217,6 +247,20 @@ function update(dt) { controllerMapping = Controller.newMapping(CONTROLLER_MAPPING_NAME + calibrationCount); + if (head) { + controllerMapping.from(function () { + var worldToAvatarXform = (new Xform(MyAvatar.orientation, MyAvatar.position)).inv(); + head.latestPose = { + valid: true, + translation: worldToAvatarXform.xformPoint(HMD.position), + rotation: Quat.multiply(worldToAvatarXform.rot, Quat.multiply(HMD.orientation, Y_180)), // postMult 180 rot flips head direction + velocity: {x: 0, y: 0, z: 0}, // TODO: currently this is unused anyway... + angularVelocity: {x: 0, y: 0, z: 0} + }; + return convertJointInfoToPose(head); + }).to(Controller.Standard.Head); + } + if (leftFoot) { controllerMapping.from(leftFoot.channel).to(function (pose) { leftFoot.latestPose = pose;