From 09bd14253ff2d9af3cf6d2c60692432bc54408e5 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Fri, 26 Jul 2019 15:28:06 +0200
Subject: [PATCH] [script] add all working scripts for memmo with anymal

---
 script/scenarios/memmo/anymal_circle.py       | 182 +++++++++++++++++
 .../scenarios/memmo/anymal_circle_oriented.py | 187 ++++++++++++++++++
 .../memmo/anymal_circle_oriented_path.py      | 142 +++++++++++++
 script/scenarios/memmo/anymal_circle_path.py  | 121 ++++++++++++
 .../scenarios/memmo/anymal_platform_random.py | 143 ++++++++++++++
 .../memmo/anymal_platform_random_path.py      | 148 ++++++++++++++
 6 files changed, 923 insertions(+)
 create mode 100644 script/scenarios/memmo/anymal_circle.py
 create mode 100644 script/scenarios/memmo/anymal_circle_oriented.py
 create mode 100644 script/scenarios/memmo/anymal_circle_oriented_path.py
 create mode 100644 script/scenarios/memmo/anymal_circle_path.py
 create mode 100644 script/scenarios/memmo/anymal_platform_random.py
 create mode 100644 script/scenarios/memmo/anymal_platform_random_path.py

diff --git a/script/scenarios/memmo/anymal_circle.py b/script/scenarios/memmo/anymal_circle.py
new file mode 100644
index 00000000..854b73f8
--- /dev/null
+++ b/script/scenarios/memmo/anymal_circle.py
@@ -0,0 +1,182 @@
+from hpp.corbaserver.rbprm.anymal import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+import time
+print "Plan guide trajectory ..."
+import anymal_circle_path as tp
+print "Done."
+import time
+statusFilename = tp.statusFilename
+pId = 0
+f = open(statusFilename,"a")
+if tp.ps.numberPaths() > 0 :
+  print "Path planning OK."
+  f.write("Planning_success: True"+"\n")
+  f.close()
+else :
+  print "Error during path planning"
+  f.write("Planning_success: False"+"\n")
+  f.close()
+  import sys
+  sys.exit(1)
+
+
+fullBody = Robot ()
+root_bounds =  tp.root_bounds
+root_bounds[-1] = 0.6
+root_bounds[-2] = 0.3
+# Set the bounds for the root
+fullBody.setJointBounds ("root_joint",  root_bounds)
+## reduce bounds on joints along x, to put conservative condition on the contact generation for sideway steps
+fullBody.setVeryConstrainedJointsBounds()
+# add the 6 extraDof for velocity and acceleration (see *_path.py script)
+fullBody.client.robot.setDimensionExtraConfigSpace(tp.extraDof)
+fullBody.client.robot.setExtraConfigSpaceBounds([-tp.vMax,tp.vMax,-tp.vMax,tp.vMax,0,0,-tp.aMax,tp.aMax,-tp.aMax,tp.aMax,0,0])
+ps = tp.ProblemSolver( fullBody )
+ps.setParameter("Kinodynamic/velocityBound",tp.vMax)
+ps.setParameter("Kinodynamic/accelerationBound",tp.aMax)
+#load the viewer
+try :
+    v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+        def addLandmark(self,a,b):
+            return
+    v = FakeViewer()
+
+
+# load a reference configuration
+q_ref = fullBody.referenceConfig[::]+[0]*6
+#q_ref = fullBody.referenceConfig_legsApart[::]+[0]*6
+q_init = q_ref[::]
+fullBody.setReferenceConfig(q_ref)
+fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
+fullBody.usePosturalTaskContactCreation(True)
+
+"""
+if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) : 
+  heuristicR = "fixedStep08"
+  heuristicL = "fixedStep08"
+  print "Use weight for straight walk"
+  fullBody.usePosturalTaskContactCreation(True)
+else :
+  print "Use weight for straff walk"
+  if tp.q_goal[1] < 0 :
+    print "start with right leg"
+    heuristicL = "static"
+    heuristicR = "fixedStep06"
+  else:
+    print "start with left leg"
+    heuristicR = "static"
+    heuristicL = "fixedStep06"
+"""
+
+fullBody.setCurrentConfig (q_init)
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases : 
+"""
+nbSamples = 100000
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristicR, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
+fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, heuristicL, 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.85)
+fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
+"""
+fullBody.loadAllLimbs("fixedStep04","ReferenceConfiguration")
+
+tGenerate =  time.time() - tStart
+print "Done."
+print "Databases generated in : "+str(tGenerate)+" s"
+
+#define initial and final configurations : 
+configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
+
+q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] # use this to get the correct orientation
+q_goal = q_init[::]; q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
+vel_init = tp.ps.configAtParam(pId,0)[tp.indexECS:tp.indexECS+3]
+acc_init = tp.ps.configAtParam(pId,0)[tp.indexECS+3:tp.indexECS+6]
+vel_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[tp.indexECS:tp.indexECS+3]
+acc_goal = [0,0,0]
+
+robTreshold = 3
+# copy extraconfig for start and init configurations
+q_init[configSize:configSize+3] = vel_init[::]
+q_init[configSize+3:configSize+6] = acc_init[::]
+q_goal[configSize:configSize+3] = vel_goal[::]
+q_goal[configSize+3:configSize+6] = [0,0,0]
+
+
+q_init[2] = q_ref[2]
+q_goal[2] = q_ref[2]
+
+
+fullBody.setStaticStability(True)
+fullBody.setCurrentConfig (q_init)
+v(q_init)
+
+fullBody.setCurrentConfig (q_goal)
+v(q_goal)
+
+v.addLandmark('anymal/base_0',0.3)
+v(q_init)
+#fullBody.setReferenceConfig(fullBody.referenceConfig_legsApart[::]+[0]*6)
+
+
+# specify the full body configurations as start and goal state of the problem
+
+normals = [[0.,0.,1.] for _ in range(4)]
+if q_goal[1] < 0: # goal on the right side of the circle, start motion with right leg first
+  fullBody.setStartState(q_init,[fullBody.rArmId,fullBody.rLegId,fullBody.lArmId,fullBody.lLegId],normals)
+  fullBody.setEndState(q_goal,[fullBody.rArmId,fullBody.rLegId,fullBody.lArmId,fullBody.lLegId],normals)
+else :
+  fullBody.setStartState(q_init,[fullBody.lArmId,fullBody.lLegId,fullBody.rArmId,fullBody.rLegId],normals)
+  fullBody.setEndState(q_goal,[fullBody.lArmId,fullBody.lLegId,fullBody.rArmId,fullBody.rLegId],normals)
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.002,pathId=pId,robustnessTreshold = 1, filterStates = True,quasiStatic=True)
+tInterpolateConfigs = time.time() - tStart
+print "Done."
+print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
+print "number of configs :", len(configs)
+#raw_input("Press Enter to display the contact sequence ...")
+#displayContactSequence(v,configs)
+
+
+if len(configs) < 2 :
+  cg_success = False
+  print "Error during contact generation."
+else:
+  cg_success = True
+  print "Contact generation Done."
+if abs(configs[-1][0] - tp.q_goal[0]) < 0.01 and abs(configs[-1][1]- tp.q_goal[1]) < 0.01  and (len(fullBody.getContactsVariations(len(configs)-2,len(configs)-1))==1):
+  print "Contact generation successful."
+  cg_reach_goal = True
+else:
+  print "Contact generation failed to reach the goal."
+  cg_reach_goal = False
+if len(configs) > 10 :
+  cg_too_many_states = True
+  cg_success = False
+  print "Discarded contact sequence because it was too long."
+else:
+  cg_too_many_states = False
+
+f = open(statusFilename,"a")
+f.write("cg_success: "+str(cg_success)+"\n")
+f.write("cg_reach_goal: "+str(cg_reach_goal)+"\n")
+f.write("cg_too_many_states: "+str(cg_too_many_states)+"\n")
+f.close()
+
+if (not cg_success) or cg_too_many_states or (not cg_reach_goal):
+  import sys
+  sys.exit(1)
+
+# put back original bounds for wholebody methods
+fullBody.resetJointsBounds()
diff --git a/script/scenarios/memmo/anymal_circle_oriented.py b/script/scenarios/memmo/anymal_circle_oriented.py
new file mode 100644
index 00000000..cc0a5a7d
--- /dev/null
+++ b/script/scenarios/memmo/anymal_circle_oriented.py
@@ -0,0 +1,187 @@
+from hpp.corbaserver.rbprm.anymal import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+import time
+print "Plan guide trajectory ..."
+import anymal_circle_oriented_path as tp
+print "Done."
+import time
+statusFilename = tp.statusFilename
+pId = 0
+f = open(statusFilename,"a")
+if tp.ps.numberPaths() > 0 :
+  print "Path planning OK."
+  f.write("Planning_success: True"+"\n")
+  f.close()
+else :
+  print "Error during path planning"
+  f.write("Planning_success: False"+"\n")
+  f.close()
+  import sys
+  sys.exit(1)
+
+
+fullBody = Robot ()
+root_bounds =  tp.root_bounds
+root_bounds[-1] = 0.6
+root_bounds[-2] = 0.3
+# Set the bounds for the root
+fullBody.setJointBounds ("root_joint",  root_bounds)
+## reduce bounds on joints along x, to put conservative condition on the contact generation for sideway steps
+fullBody.setVeryConstrainedJointsBounds()
+fullBody.setJointBounds('LF_HAA',[-0.2,0.2])
+fullBody.setJointBounds('RF_HAA',[-0.2,0.2])
+fullBody.setJointBounds('LH_HAA',[-0.2,0.2])
+fullBody.setJointBounds('RH_HAA',[-0.2,0.2])
+
+# add the 6 extraDof for velocity and acceleration (see *_path.py script)
+fullBody.client.robot.setDimensionExtraConfigSpace(tp.extraDof)
+fullBody.client.robot.setExtraConfigSpaceBounds([-tp.vMax,tp.vMax,-tp.vMax,tp.vMax,0,0,-tp.aMax,tp.aMax,-tp.aMax,tp.aMax,0,0])
+ps = tp.ProblemSolver( fullBody )
+ps.setParameter("Kinodynamic/velocityBound",tp.vMax)
+ps.setParameter("Kinodynamic/accelerationBound",tp.aMax)
+#load the viewer
+try :
+    v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+        def addLandmark(self,a,b):
+            return
+    v = FakeViewer()
+
+
+# load a reference configuration
+q_ref = fullBody.referenceConfig[::]+[0]*6
+#q_ref = fullBody.referenceConfig_legsApart[::]+[0]*6
+q_init = q_ref[::]
+fullBody.setReferenceConfig(q_ref)
+fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
+fullBody.usePosturalTaskContactCreation(True)
+
+"""
+if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) : 
+  heuristicR = "fixedStep08"
+  heuristicL = "fixedStep08"
+  print "Use weight for straight walk"
+  fullBody.usePosturalTaskContactCreation(True)
+else :
+  print "Use weight for straff walk"
+  if tp.q_goal[1] < 0 :
+    print "start with right leg"
+    heuristicL = "static"
+    heuristicR = "fixedStep06"
+  else:
+    print "start with left leg"
+    heuristicR = "static"
+    heuristicL = "fixedStep06"
+"""
+
+fullBody.setCurrentConfig (q_init)
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases : 
+"""
+nbSamples = 100000
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristicR, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
+fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, heuristicL, 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.85)
+fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
+"""
+fullBody.loadAllLimbs("fixedStep04")
+
+tGenerate =  time.time() - tStart
+print "Done."
+print "Databases generated in : "+str(tGenerate)+" s"
+
+#define initial and final configurations : 
+configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
+
+q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] # use this to get the correct orientation
+q_goal = q_init[::]; q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
+vel_init = tp.ps.configAtParam(pId,0)[tp.indexECS:tp.indexECS+3]
+acc_init = tp.ps.configAtParam(pId,0)[tp.indexECS+3:tp.indexECS+6]
+vel_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[tp.indexECS:tp.indexECS+3]
+acc_goal = [0,0,0]
+
+robTreshold = 3
+# copy extraconfig for start and init configurations
+q_init[configSize:configSize+3] = vel_init[::]
+q_init[configSize+3:configSize+6] = acc_init[::]
+q_goal[configSize:configSize+3] = vel_goal[::]
+q_goal[configSize+3:configSize+6] = [0,0,0]
+
+
+q_init[2] = q_ref[2]
+q_goal[2] = q_ref[2]
+
+
+fullBody.setStaticStability(True)
+fullBody.setCurrentConfig (q_init)
+v(q_init)
+
+fullBody.setCurrentConfig (q_goal)
+v(q_goal)
+
+v.addLandmark('anymal/base_0',0.3)
+v(q_init)
+#fullBody.setReferenceConfig(fullBody.referenceConfig_legsApart[::]+[0]*6)
+
+
+# specify the full body configurations as start and goal state of the problem
+
+normals = [[0.,0.,1.] for _ in range(4)]
+if q_goal[1] < 0: # goal on the right side of the circle, start motion with right leg first
+  fullBody.setStartState(q_init,[fullBody.rArmId,fullBody.rLegId,fullBody.lArmId,fullBody.lLegId],normals)
+  fullBody.setEndState(q_goal,[fullBody.rArmId,fullBody.rLegId,fullBody.lArmId,fullBody.lLegId],normals)
+else :
+  fullBody.setStartState(q_init,[fullBody.lArmId,fullBody.lLegId,fullBody.rArmId,fullBody.rLegId],normals)
+  fullBody.setEndState(q_goal,[fullBody.lArmId,fullBody.lLegId,fullBody.rArmId,fullBody.rLegId],normals)
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = 1, filterStates = True,quasiStatic=True)
+tInterpolateConfigs = time.time() - tStart
+print "Done."
+print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
+print "number of configs :", len(configs)
+#raw_input("Press Enter to display the contact sequence ...")
+#displayContactSequence(v,configs)
+
+
+if len(configs) < 2 :
+  cg_success = False
+  print "Error during contact generation."
+else:
+  cg_success = True
+  print "Contact generation Done."
+if abs(configs[-1][0] - tp.q_goal[0]) < 0.01 and abs(configs[-1][1]- tp.q_goal[1]) < 0.01  and (len(fullBody.getContactsVariations(len(configs)-2,len(configs)-1))==1):
+  print "Contact generation successful."
+  cg_reach_goal = True
+else:
+  print "Contact generation failed to reach the goal."
+  cg_reach_goal = False
+if len(configs) > 50 :
+  cg_too_many_states = True
+  cg_success = False
+  print "Discarded contact sequence because it was too long."
+else:
+  cg_too_many_states = False
+
+f = open(statusFilename,"a")
+f.write("cg_success: "+str(cg_success)+"\n")
+f.write("cg_reach_goal: "+str(cg_reach_goal)+"\n")
+f.write("cg_too_many_states: "+str(cg_too_many_states)+"\n")
+f.close()
+
+if (not cg_success) or cg_too_many_states or (not cg_reach_goal):
+  import sys
+  sys.exit(1)
+
+# put back original bounds for wholebody methods
+fullBody.resetJointsBounds()
diff --git a/script/scenarios/memmo/anymal_circle_oriented_path.py b/script/scenarios/memmo/anymal_circle_oriented_path.py
new file mode 100644
index 00000000..14fc6ae6
--- /dev/null
+++ b/script/scenarios/memmo/anymal_circle_oriented_path.py
@@ -0,0 +1,142 @@
+from hpp.corbaserver.rbprm.anymal_abstract import Robot
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+import numpy as np
+import time
+statusFilename = "/res/infos.log"
+from pinocchio import Quaternion
+
+vMax = 0.5# linear velocity bound for the root
+vInit = 0.05# initial / final velocity to fix the direction
+vGoal = 0.01
+aMax = 0.05# linear acceleration bound for the root
+extraDof = 6
+mu=0.5# coefficient of friction
+# Creating an instance of the helper class, and loading the robot
+# Creating an instance of the helper class, and loading the robot
+rbprmBuilder = Robot ()
+# Define bounds for the root : bounding box of the scenario
+root_bounds =  [-2,2, -2, 2, 0.4, 0.5]
+rbprmBuilder.setJointBounds ("root_joint", root_bounds)
+
+# The following lines set constraint on the valid configurations:
+# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
+rbprmBuilder.setFilter(rbprmBuilder.urdfNameRom)
+for rom in rbprmBuilder.urdfNameRom :
+    rbprmBuilder.setAffordanceFilter(rom, ['Support'])
+
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-1.7,1.7,-0.1,0.1,-0.1,0.1])
+# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
+rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
+# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
+rbprmBuilder.client.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,-aMax,aMax,-aMax,aMax,0,0])
+indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.robot.getDimensionExtraConfigSpace()
+
+# Creating an instance of HPP problem solver 
+ps = ProblemSolver( rbprmBuilder )
+# define parameters used by various methods : 
+ps.setParameter("Kinodynamic/velocityBound",vMax)
+ps.setParameter("Kinodynamic/accelerationBound",aMax)
+ps.setParameter("DynamicPlanner/sizeFootX",0.01)
+ps.setParameter("DynamicPlanner/sizeFootY",0.01)
+ps.setParameter("DynamicPlanner/friction",mu)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
+# sample only configuration with null velocity and acceleration :
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+
+# initialize the viewer :
+from hpp.gepetto import ViewerFactory
+vf = ViewerFactory (ps)
+
+# load the module to analyse the environnement and compute the possible contact surfaces
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel ("hpp_environments", "multicontact/ground", "planning", vf)
+try :
+    v = vf.createViewer(displayArrows = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+    v = FakeViewer()
+    
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[0:3] = [0,0,0.465]
+q_init[3:7] = [0,0,0,1]
+
+# sample random position on a circle of radius 2m
+q_init[-6] = vInit
+# sample random position on a circle of radius 2m
+
+radius = 1.
+import random 
+random.seed()
+#alpha = random.uniform(0.,2.*np.pi)
+alpha = random.uniform(0.,2.*np.pi)
+print "Test on a circle, alpha = ",alpha
+q_goal = q_init[::]
+q_goal [0:3] = [radius*np.sin(alpha), -radius*np.cos(alpha), 0.465]
+# set final orientation to be along the circle : 
+vx = np.matrix([1,0,0]).T
+v_goal = np.matrix([q_goal[0],q_goal[1],0]).T
+quat = Quaternion.FromTwoVectors(vx,v_goal)
+q_goal[3:7] = quat.coeffs().T.tolist()[0]
+# set final velocity to fix the orientation : 
+q_goal[-6] = vGoal*np.sin(alpha)
+q_goal[-5] = -vGoal*np.cos(alpha)
+v(q_goal)
+print "initial root position : ",q_init
+print "final root position : ",q_goal
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+# write problem in files : 
+f = open(statusFilename,"w")
+f.write("q_init= "+str(q_init)+"\n")
+f.write("q_goal= "+str(q_goal)+"\n")
+f.close()
+
+
+# Choosing RBPRM shooter and path validation methods.
+ps.selectConfigurationShooter("RbprmShooter")
+ps.selectPathValidation("RbprmPathValidation",0.05)
+# Choosing kinodynamic methods :
+ps.selectSteeringMethod("RBPRMKinodynamic")
+ps.selectDistance("Kinodynamic")
+ps.selectPathPlanner("DynamicPlanner")
+
+
+# Solve the planning problem :
+success = ps.client.problem.prepareSolveStepByStep()
+
+if not success:
+  print "planning failed."
+  import sys
+  sys.exit(1)
+
+ps.client.problem.finishSolveStepByStep()
+
+try :
+    # display solution : 
+    from hpp.gepetto import PathPlayer
+    pp = PathPlayer (v)
+    pp.dt=0.1
+    pp.displayVelocityPath(0)
+    #v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
+    pp.dt=0.01
+    #pp(0)
+except Exception:
+    pass
+
+# move the robot out of the view before computing the contacts
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+
diff --git a/script/scenarios/memmo/anymal_circle_path.py b/script/scenarios/memmo/anymal_circle_path.py
new file mode 100644
index 00000000..18bf85a7
--- /dev/null
+++ b/script/scenarios/memmo/anymal_circle_path.py
@@ -0,0 +1,121 @@
+from hpp.corbaserver.rbprm.anymal_abstract import Robot
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+import numpy as np
+import time
+statusFilename = "/res/infos.log"
+
+
+vMax = 0.3# linear velocity bound for the root
+aMax = 1.# linear acceleration bound for the root
+extraDof = 6
+mu=0.5# coefficient of friction
+# Creating an instance of the helper class, and loading the robot
+# Creating an instance of the helper class, and loading the robot
+rbprmBuilder = Robot ()
+# Define bounds for the root : bounding box of the scenario
+root_bounds =  [-2,2, -2, 2, 0.4, 0.5]
+rbprmBuilder.setJointBounds ("root_joint", root_bounds)
+
+# The following lines set constraint on the valid configurations:
+# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
+rbprmBuilder.setFilter(rbprmBuilder.urdfNameRom)
+for rom in rbprmBuilder.urdfNameRom :
+    rbprmBuilder.setAffordanceFilter(rom, ['Support'])
+
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-1.7,1.7,-0.1,0.1,-0.1,0.1])
+# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
+rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
+# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
+rbprmBuilder.client.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,-aMax,aMax,-aMax,aMax,0,0])
+indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.robot.getDimensionExtraConfigSpace()
+
+# Creating an instance of HPP problem solver 
+ps = ProblemSolver( rbprmBuilder )
+# define parameters used by various methods : 
+ps.setParameter("Kinodynamic/velocityBound",vMax)
+ps.setParameter("Kinodynamic/accelerationBound",aMax)
+ps.setParameter("DynamicPlanner/sizeFootX",0.01)
+ps.setParameter("DynamicPlanner/sizeFootY",0.01)
+ps.setParameter("DynamicPlanner/friction",mu)
+# sample only configuration with null velocity and acceleration :
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+
+# initialize the viewer :
+from hpp.gepetto import ViewerFactory
+vf = ViewerFactory (ps)
+
+# load the module to analyse the environnement and compute the possible contact surfaces
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel ("hpp_environments", "multicontact/ground", "planning", vf)
+try :
+    v = vf.createViewer(displayArrows = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+    v = FakeViewer()
+    
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[0:3] = [0,0,0.465]
+q_init[3:7] = [0,0,0,1]
+
+# sample random position on a circle of radius 2m
+
+radius = 0.15
+import random 
+random.seed()
+alpha = random.uniform(0.,2.*np.pi)
+print "Test on a circle, alpha = ",alpha
+q_goal = q_init[::]
+q_goal [0:3] = [radius*np.sin(alpha), -radius*np.cos(alpha), 0.465]
+
+print "initial root position : ",q_init[0:3]
+print "final root position : ",q_goal[0:3]
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+# write problem in files : 
+f = open(statusFilename,"w")
+f.write("q_init= "+str(q_init)+"\n")
+f.write("q_goal= "+str(q_goal)+"\n")
+f.close()
+
+
+# Choosing RBPRM shooter and path validation methods.
+ps.selectConfigurationShooter("RbprmShooter")
+ps.selectPathValidation("RbprmPathValidation",0.05)
+# Choosing kinodynamic methods :
+ps.selectSteeringMethod("RBPRMKinodynamic")
+ps.selectDistance("Kinodynamic")
+ps.selectPathPlanner("DynamicPlanner")
+
+# Solve the planning problem :
+t = ps.solve ()
+print "Guide planning time : ",t
+
+try :
+    # display solution : 
+    from hpp.gepetto import PathPlayer
+    pp = PathPlayer (v)
+    pp.dt=0.1
+    pp.displayVelocityPath(0)
+    #v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
+    pp.dt=0.01
+    #pp(0)
+except Exception:
+    pass
+
+# move the robot out of the view before computing the contacts
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+
diff --git a/script/scenarios/memmo/anymal_platform_random.py b/script/scenarios/memmo/anymal_platform_random.py
new file mode 100644
index 00000000..9ba5fb92
--- /dev/null
+++ b/script/scenarios/memmo/anymal_platform_random.py
@@ -0,0 +1,143 @@
+from hpp.corbaserver.rbprm.anymal import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+import time
+print "Plan guide trajectory ..."
+import scenarios.memmo.anymal_platform_random_path as tp
+#Robot.urdfSuffix += "_safeFeet"
+statusFilename = tp.statusFilename
+pId = 0
+f = open(statusFilename,"a")
+if tp.ps.numberPaths() > 0 :
+  print "Path planning OK."
+  f.write("Planning_success: True"+"\n")
+  f.close()
+else :
+  print "Error during path planning"
+  f.write("Planning_success: False"+"\n")
+  f.close()
+  import sys
+  sys.exit(1)
+
+fullBody = Robot ()
+
+# Set the bounds for the root
+rootBounds = tp.rootBounds[::]
+rootBounds[-2] -= 0.2
+rootBounds[0] -= 0.2
+rootBounds[1] += 0.2
+rootBounds[2] -= 0.2
+rootBounds[3] += 0.2
+fullBody.setJointBounds ("root_joint",  rootBounds)
+fullBody.setVeryConstrainedJointsBounds()
+
+# add the 6 extraDof for velocity and acceleration (see *_path.py script)
+fullBody.client.robot.setDimensionExtraConfigSpace(tp.extraDof)
+fullBody.client.robot.setExtraConfigSpaceBounds([-tp.vMax,tp.vMax,-tp.vMax,tp.vMax,0,0,-tp.aMax,tp.aMax,-tp.aMax,tp.aMax,0,0])
+ps = tp.ProblemSolver( fullBody )
+ps.setParameter("Kinodynamic/velocityBound",tp.vMax)
+ps.setParameter("Kinodynamic/accelerationBound",tp.aMax)
+ps.setParameter("FullBody/frictionCoefficient",tp.mu)
+#load the viewer
+try :
+    v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+        def addLandmark(self,a,b):
+            return
+    v = FakeViewer()
+
+
+# load a reference configuration
+q_ref = fullBody.referenceConfig[::]+[0]*6
+q_init = q_ref[::]
+fullBody.setReferenceConfig(q_ref)
+fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
+#fullBody.usePosturalTaskContactCreation(True)
+
+fullBody.setCurrentConfig (q_init)
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases : 
+
+fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=100000)
+
+
+tGenerate =  time.time() - tStart
+print "Done."
+print "Databases generated in : "+str(tGenerate)+" s"
+
+#define initial and final configurations : 
+configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
+
+q_init[0:7] = tp.ps.configAtParam(pId,0)[0:7] # use this to get the correct orientation
+q_goal = q_init[::]; q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
+vel_init = tp.ps.configAtParam(pId,0)[tp.indexECS:tp.indexECS+3]
+acc_init = tp.ps.configAtParam(pId,0)[tp.indexECS+3:tp.indexECS+6]
+vel_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[tp.indexECS:tp.indexECS+3]
+acc_goal = [0,0,0]
+
+robTreshold = 5
+# copy extraconfig for start and init configurations
+q_init[configSize:configSize+3] = vel_init[::]
+q_init[configSize+3:configSize+6] = acc_init[::]
+q_goal[configSize:configSize+3] = vel_goal[::]
+q_goal[configSize+3:configSize+6] = [0,0,0]
+
+
+
+fullBody.setStaticStability(True)
+
+
+id_init = fullBody.generateStateInContact(q_init, [0,0,1])
+id_goal = fullBody.generateStateInContact(q_goal, [0,0,1])
+
+
+v(fullBody.getConfigAtState(id_init))
+fullBody.setStartStateId(id_init)
+v(fullBody.getConfigAtState(id_goal))
+fullBody.setEndStateId(id_goal)
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = 1, filterStates = True,testReachability=True,quasiStatic=True)
+tInterpolateConfigs = time.time() - tStart
+print "Done."
+print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
+print "number of configs :", len(configs)
+#raw_input("Press Enter to display the contact sequence ...")
+#displayContactSequence(v,configs)
+
+if len(configs) < 2 :
+  cg_success = False
+  print "Error during contact generation."
+else:
+  cg_success = True
+  print "Contact generation Done."
+if abs(configs[-1][0] - tp.q_goal[0]) < 0.01 and abs(configs[-1][1]- tp.q_goal[1]) < 0.01  and (len(fullBody.getContactsVariations(len(configs)-2,len(configs)-1))==1):
+  print "Contact generation successful."
+  cg_reach_goal = True
+else:
+  print "Contact generation failed to reach the goal."
+  cg_reach_goal = False
+
+f = open(statusFilename,"a")
+f.write("cg_success: "+str(cg_success)+"\n")
+f.write("cg_reach_goal: "+str(cg_reach_goal)+"\n")
+f.close()
+
+if (not cg_success):
+  import sys
+  sys.exit(1)
+
+#beginId = 2
+
+# put back original bounds for wholebody methods
+fullBody.resetJointsBounds()
+#displayContactSequence(v,configs)
diff --git a/script/scenarios/memmo/anymal_platform_random_path.py b/script/scenarios/memmo/anymal_platform_random_path.py
new file mode 100644
index 00000000..3cb61388
--- /dev/null
+++ b/script/scenarios/memmo/anymal_platform_random_path.py
@@ -0,0 +1,148 @@
+from hpp.corbaserver.rbprm.anymal_abstract import Robot
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+from pinocchio import Quaternion
+import numpy as np
+import time
+import math
+statusFilename = "/res/infos.log"
+
+
+vInit = 0.05# initial / final velocity to fix the direction
+vGoal = 0.01
+vMax = 0.5# linear velocity bound for the root
+aMax = 0.5# linear acceleration bound for the root
+extraDof = 6
+mu=0.3# coefficient of friction
+# Creating an instance of the helper class, and loading the robot
+# Creating an instance of the helper class, and loading the robot
+rbprmBuilder = Robot ()
+# Define bounds for the root : bounding box of the scenario
+rootBounds = [0.4,3.6, 0.4, 2., 0.4, 0.5]
+rbprmBuilder.setJointBounds ("root_joint", rootBounds)
+
+# The following lines set constraint on the valid configurations:
+# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
+rbprmBuilder.setFilter([])
+for rom in rbprmBuilder.urdfNameRom :
+    rbprmBuilder.setAffordanceFilter(rom, ['Support'])
+
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-3.14,3.14,-0.1,0.1,-0.1,0.1])
+# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
+rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
+# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
+rbprmBuilder.client.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,-aMax,aMax,-aMax,aMax,0,0])
+indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.robot.getDimensionExtraConfigSpace()
+
+# Creating an instance of HPP problem solver 
+ps = ProblemSolver( rbprmBuilder )
+# define parameters used by various methods : 
+ps.setParameter("Kinodynamic/velocityBound",vMax)
+ps.setParameter("Kinodynamic/accelerationBound",aMax)
+ps.setParameter("DynamicPlanner/sizeFootX",0.2)
+ps.setParameter("DynamicPlanner/sizeFootY",0.12)
+ps.setParameter("DynamicPlanner/friction",mu)
+# sample only configuration with null velocity and acceleration :
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+
+# initialize the viewer :
+from hpp.gepetto import ViewerFactory
+vf = ViewerFactory (ps)
+
+# load the module to analyse the environnement and compute the possible contact surfaces
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel ("hpp_environments", "multicontact/plateforme_not_flat", "planning", vf, reduceSizes=[0.05,0,0])
+try :
+    v = vf.createViewer(displayArrows = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+    v = FakeViewer()
+    
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+#v.addLandmark(v.sceneName,1)
+q_init = rbprmBuilder.getCurrentConfig ();
+
+# Generate random init and goal position.
+X_BOUNDS=[0.4,3.6]
+Y_BOUNDS=[0.4,2.]
+Z_VALUE = 0.465
+
+
+import random
+random.seed()
+
+q_init[0:3] = [random.uniform(X_BOUNDS[0],X_BOUNDS[1]),random.uniform(Y_BOUNDS[0],Y_BOUNDS[1]),Z_VALUE]
+q_goal=q_init[::]
+for i in range(random.randint(0,1000)):
+  random.uniform(0.,1.)
+q_goal[0:3] = [random.uniform(X_BOUNDS[0],X_BOUNDS[1]),random.uniform(Y_BOUNDS[0],Y_BOUNDS[1]),Z_VALUE]
+
+
+
+# compute the orientation such that q_init face q_goal :
+# set final orientation to be along the circle : 
+vx = np.matrix([1,0,0]).T
+v_init = np.matrix([q_goal[0]-q_init[0],q_goal[1]-q_init[1],0]).T
+quat = Quaternion.FromTwoVectors(vx,v_init)
+q_init[3:7] = quat.coeffs().T.tolist()[0]
+q_goal[3:7] = q_init[3:7]
+
+
+
+print "initial root position : ",q_init
+print "final root position : ",q_goal
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+# write problem in files : 
+f = open(statusFilename,"w")
+f.write("q_init= "+str(q_init)+"\n")
+f.write("q_goal= "+str(q_goal)+"\n")
+f.close()
+
+
+# Choosing RBPRM shooter and path validation methods.
+ps.selectConfigurationShooter("RbprmShooter")
+ps.selectPathValidation("RbprmPathValidation",0.05)
+# Choosing kinodynamic methods :
+#ps.selectSteeringMethod("RBPRMKinodynamic")
+#ps.selectDistance("Kinodynamic")
+#ps.selectPathPlanner("DynamicPlanner")
+
+# Solve the planning problem :
+success = ps.client.problem.prepareSolveStepByStep()
+
+if not success:
+  print "planning failed."
+  import sys
+  sys.exit(1)
+
+ps.client.problem.finishSolveStepByStep()
+
+
+try :
+    # display solution : 
+    from hpp.gepetto import PathPlayer
+    pp = PathPlayer (v)
+    pp.dt=0.1
+    pp.displayPath(0)#pp.displayVelocityPath(0) #
+    #v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
+    pp.dt=0.01
+    #pp(0)
+except Exception:
+    pass
+
+# move the robot out of the view before computing the contacts
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+
-- 
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