[script] add talos_maze_path script

script/scenarios/sandbox/talos_maze_path.py

+from hpp.corbaserver.rbprm.talos_abstract import Robot
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+import numpy as np
+from pinocchio import Quaternion
+import time
+
+Robot.urdfName += "_large"
+
+vMax = 0.5# linear velocity bound for the root
+aMax = 0.5# 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
+rbprmBuilder.setJointBounds ("root_joint", [0,18.5, 0, 24., 0.98, 0.98])
+rbprmBuilder.setJointBounds ('torso_1_joint', [0,0])
+rbprmBuilder.setJointBounds ('torso_2_joint', [0,0])
+
+
+# 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(['talos_lleg_rom','talos_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('talos_lleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('talos_rleg_rom', ['Support'])
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-4,4,-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)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
+# sample only configuration with null velocity and acceleration :
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",100)
+# 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, 5.])
+afftool.loadObstacleModel ("hpp_environments", "multicontact/maze_easy", "planning", vf)
+#load the viewer
+v = vf.createViewer(displayArrows = True)
+v.addLandmark(v.sceneName,1)
+afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[0:3] = [0.1,3,0.98]
+q_init[3:7] = [0,0,0,1]
+q_init[-6:-3] = [0.05,0,0]
+v(q_init)
+# sample random position on a circle of radius 2m
+q_goal = q_init[::]
+q_goal[0:2] = [17.8,15]
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+
+
+# Choosing RBPRM shooter and path validation methods.
+ps.selectConfigurationShooter("RbprmShooter")
+ps.selectPathValidation("RbprmPathValidation",0.05)
+ps.addPathOptimizer ("RandomShortcutDynamic")
+# Choosing kinodynamic methods :
+ps.selectSteeringMethod("RBPRMKinodynamic")
+ps.selectDistance("Kinodynamic")
+ps.selectPathPlanner("DynamicPlanner")
+
+t = ps.solve ()
+print "Guide planning time : ",t
+#v.solveAndDisplay("rm",10,0.01)
+for i in range(10):
+    print "Optimize path, "+str(i+1)+"/10 ... "
+    ps.optimizePath(ps.numberPaths()-1)
+pathId = ps.numberPaths()-1
+
+
+# display solution : 
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (v)
+pp.dt=0.01
+pp.displayPath(pathId)
+v.client.gui.setVisibility("path_"+str(pathId)+"_root","ALWAYS_ON_TOP")
+pp.dt=0.01
+#pp(pathId)
+
+# move the robot out of the view before computing the contacts
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+