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Humanoid Path Planner
hpp-rbprm-corba
Commits
67fc6dba
Commit
67fc6dba
authored
Jan 07, 2019
by
Pierre Fernbach
Browse files
[script] add a script for kinodynamic planner with talos
parent
288e92af
Changes
1
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Inline
Side-by-side
script/scenarios/demos/talos_flatGround_path.py
0 → 100644
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67fc6dba
from
hpp.corbaserver.rbprm.rbprmbuilder
import
Builder
from
hpp.gepetto
import
Viewer
from
hpp.corbaserver
import
Client
from
hpp.corbaserver
import
ProblemSolver
import
time
rootJointType
=
'freeflyer'
packageName
=
'talos-rbprm'
meshPackageName
=
'talos-rbprm'
urdfName
=
'talos_trunk'
urdfNameRom
=
[
'talos_larm_rom'
,
'talos_rarm_rom'
,
'talos_lleg_rom'
,
'talos_rleg_rom'
]
urdfSuffix
=
""
srdfSuffix
=
""
vMax
=
0.3
aMax
=
0.1
extraDof
=
6
mu
=
0.5
# Creating an instance of the helper class, and loading the robot
rbprmBuilder
=
Builder
()
rbprmBuilder
.
loadModel
(
urdfName
,
urdfNameRom
,
rootJointType
,
meshPackageName
,
packageName
,
urdfSuffix
,
srdfSuffix
)
rbprmBuilder
.
setJointBounds
(
"root_joint"
,
[
-
5
,
5
,
-
1.5
,
1.5
,
0.95
,
1.05
])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
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
([
-
1.7
,
1.7
,
-
0.1
,
0.1
,
-
0.1
,
0.1
])
rbprmBuilder
.
client
.
robot
.
setDimensionExtraConfigSpace
(
extraDof
)
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 and the viewer
ps
=
ProblemSolver
(
rbprmBuilder
)
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"
,
0.5
)
ps
.
setParameter
(
"ConfigurationShooter/sampleExtraDOF"
,
False
)
from
hpp.gepetto
import
ViewerFactory
vf
=
ViewerFactory
(
ps
)
from
hpp.corbaserver.affordance.affordance
import
AffordanceTool
afftool
=
AffordanceTool
()
afftool
.
setAffordanceConfig
(
'Support'
,
[
0.5
,
0.03
,
0.00005
])
afftool
.
loadObstacleModel
(
"hpp-rbprm-corba"
,
"ground"
,
"planning"
,
vf
)
v
=
vf
.
createViewer
(
displayArrows
=
True
)
afftool
.
visualiseAffordances
(
'Support'
,
v
,
v
.
color
.
lightBrown
)
# Setting initial configuration
q_init
=
rbprmBuilder
.
getCurrentConfig
();
q_init
[
3
:
7
]
=
[
0
,
0
,
0
,
1
]
q_init
[
0
:
3
]
=
[
0
,
0
,
1.
]
v
(
q_init
)
# set goal config
rbprmBuilder
.
setCurrentConfig
(
q_init
)
q_goal
=
q_init
[::]
q_goal
[
0
]
=
1.5
v
(
q_goal
)
ps
.
setInitialConfig
(
q_init
)
ps
.
addGoalConfig
(
q_goal
)
# Choosing RBPRM shooter and path validation methods.
ps
.
selectConfigurationShooter
(
"RbprmShooter"
)
ps
.
addPathOptimizer
(
"RandomShortcutDynamic"
)
ps
.
selectPathValidation
(
"RbprmPathValidation"
,
0.05
)
# Choosing kinodynamic methods :
ps
.
selectSteeringMethod
(
"RBPRMKinodynamic"
)
ps
.
selectDistance
(
"Kinodynamic"
)
ps
.
selectPathPlanner
(
"DynamicPlanner"
)
t
=
ps
.
solve
()
print
"Guide planning time : "
,
t
# display solution :
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
v
)
pp
.
dt
=
0.03
pp
.
displayVelocityPath
(
0
)
v
.
client
.
gui
.
setVisibility
(
"path_0_root"
,
"ALWAYS_ON_TOP"
)
pp
(
0
)
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