[script] add script talos_moveEffector_flat for memmo

script/scenarios/memmo/talos_moveEffector_flat.py

+from hpp.corbaserver.rbprm.talos import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+from hpp.gepetto import ViewerFactory
+from hpp.corbaserver import ProblemSolver
+import os
+import random
+import time
+statusFilename = "infos.log"
+
+
+
+fullBody = Robot ()
+# Set the bounds for the root
+fullBody.setJointBounds ("root_joint", [-0.3,0.3, -0.3, 0.3, 0.9, 1.05])
+## reduce bounds on joints along x, to put conservative condition on the contact generation for sideway steps
+joint6L_bounds_prev=fullBody.getJointBounds('leg_left_6_joint')
+joint2L_bounds_prev=fullBody.getJointBounds('leg_left_2_joint')
+joint6R_bounds_prev=fullBody.getJointBounds('leg_right_6_joint')
+joint2R_bounds_prev=fullBody.getJointBounds('leg_right_2_joint')
+fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
+fullBody.setJointBounds('leg_left_2_joint',[-0.25,0.25])
+fullBody.setJointBounds('leg_right_6_joint',[-0.25,0.25])
+fullBody.setJointBounds('leg_right_2_joint',[-0.25,0.25])
+# constraint z axis and y axis : 
+joint1L_bounds_prev=fullBody.getJointBounds('leg_left_1_joint')
+joint3L_bounds_prev=fullBody.getJointBounds('leg_left_3_joint')
+joint1R_bounds_prev=fullBody.getJointBounds('leg_right_1_joint')
+joint3R_bounds_prev=fullBody.getJointBounds('leg_right_3_joint')
+fullBody.setJointBounds('leg_left_1_joint',[-0.2,0.7])
+fullBody.setJointBounds('leg_left_3_joint',[-1.3,0.4])
+fullBody.setJointBounds('leg_right_1_joint',[-0.7,0.2])
+fullBody.setJointBounds('leg_right_3_joint',[-1.3,0.4])
+
+# add the 6 extraDof for velocity and acceleration (see *_path.py script)
+fullBody.client.robot.setDimensionExtraConfigSpace(6)
+vMax = 0.5# linear velocity bound for the root
+aMax = 0.5# linear acceleration bound for the root
+fullBody.client.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,-aMax,aMax,-aMax,aMax,0,0])
+ps = ProblemSolver( fullBody )
+vf = ViewerFactory (ps)
+ps.setParameter("Kinodynamic/velocityBound",vMax)
+ps.setParameter("Kinodynamic/accelerationBound",aMax)
+ps.setRandomSeed(random.SystemRandom().randint(0, 999999))
+
+#load the viewer
+try :
+    v = vf.createViewer(displayCoM = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        sceneName = ""
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+        def addLandmark(self,a,b):
+            return
+    v = FakeViewer()
+
+v.addLandmark(v.sceneName,0.5)
+v.addLandmark('talos/base_link',0.3)
+
+# load a reference configuration
+q_ref = fullBody.referenceConfig[::]+[0]*6
+#q_ref = fullBody.referenceConfig_legsApart[::]+[0]*6
+fullBody.setReferenceConfig(q_ref)
+fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
+
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases : 
+
+nbSamples = 10
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "static", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.7)
+fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "static", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.7)
+fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
+
+
+tGenerate =  time.time() - tStart
+print "Done."
+print "Databases generated in : "+str(tGenerate)+" s"
+
+from tools.sample_random_transition import sampleRandomTransitionFlatFloor
+limbsInContact = [fullBody.rLegId,fullBody.lLegId]
+random.seed()
+movingId = random.randint(0,1)
+movingLimb = limbsInContact[movingId]
+print "Move limb : ",movingLimb
+#floor_Z = - fullBody.dict_offset['leg_left_6_joint'].translation[2,0]
+floor_Z = 0.
+s0,s1 = sampleRandomTransitionFlatFloor(fullBody,limbsInContact,movingLimb,floor_Z)
+
+configs = [s0.q(),s1.q()]
+beginId = s0.sId
+endId = beginId + 1
+v(configs[0])
+
+if len(configs) == 2 :
+    cg_success = True
+    cg_reach_goal = True
+    print "Contact generation successful."
+else:
+    cg_success = False
+    cg_reach_goal = False
+    print "Contact generation failed."
+
+
+f = open(statusFilename,"a")
+f.write("cg_success: "+str(cg_success)+"\n")
+f.write("cg_reach_goal: "+str(cg_reach_goal)+"\n")
+f.close()
+
+
+# put back original bounds for wholebody methods
+fullBody.setJointBounds ("root_joint", [-2,2, -2, 2, 0.6, 1.4])
+fullBody.setJointBounds('leg_left_6_joint',joint6L_bounds_prev)
+fullBody.setJointBounds('leg_left_2_joint',joint2L_bounds_prev)
+fullBody.setJointBounds('leg_right_6_joint',joint6R_bounds_prev)
+fullBody.setJointBounds('leg_right_2_joint',joint2R_bounds_prev)
+fullBody.setJointBounds('leg_left_1_joint',joint1L_bounds_prev)
+fullBody.setJointBounds('leg_left_3_joint',joint3L_bounds_prev)
+fullBody.setJointBounds('leg_right_1_joint',joint1R_bounds_prev)
+fullBody.setJointBounds('leg_right_3_joint',joint3R_bounds_prev)
+