From e9bb88160c897a18a9772d38ffa6dc18988c47d7 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Tue, 30 Apr 2019 20:22:28 +0200
Subject: [PATCH] [script] add talos_circle_oriented script for memmo
---
.../scenarios/memmo/talos_circle_oriented.py | 182 ++++++++++++++++++
.../memmo/talos_circle_oriented_path.py | 136 +++++++++++++
2 files changed, 318 insertions(+)
create mode 100644 script/scenarios/memmo/talos_circle_oriented.py
create mode 100644 script/scenarios/memmo/talos_circle_oriented_path.py
diff --git a/script/scenarios/memmo/talos_circle_oriented.py b/script/scenarios/memmo/talos_circle_oriented.py
new file mode 100644
index 00000000..1666e71c
--- /dev/null
+++ b/script/scenarios/memmo/talos_circle_oriented.py
@@ -0,0 +1,182 @@
+from hpp.corbaserver.rbprm.talos import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+import numpy as np
+import time
+print "Plan guide trajectory ..."
+import talos_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 ()
+
+# Set the bounds for the root
+fullBody.setJointBounds ("root_joint", [-2,2, -2, 2, 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])
+# 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)
+if tp.alpha <0.8*np.pi and tp.alpha > 0.2*np.pi : # nearly straight walk
+ heuristicR = "fixedStep08"
+ heuristicL = "fixedStep08"
+ fullBody.usePosturalTaskContactCreation(True)
+else: # more complex motion. Do smaller steps and allow non-straight feet orientation
+ heuristicR = "fixedStep06"
+ 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)
+
+
+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]
+q_goal = q_init[::]; q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
+vel_init = [0,0,0]
+acc_init = [0,0,0]
+vel_goal = [0,0,0]
+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] = acc_goal[::]
+
+
+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('talos/base_link',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
+
+if q_goal[1] < 0: # goal on the right side of the circle, start motion with right leg first
+ fullBody.setStartState(q_init,[fullBody.rLegId,fullBody.lLegId])
+ fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lLegId])
+ print "Right foot first"
+else :
+ fullBody.setStartState(q_init,[fullBody.lLegId,fullBody.rLegId])
+ fullBody.setEndState(q_goal,[fullBody.lLegId,fullBody.rLegId])
+ print "Left foot first"
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.005,pathId=pId,robustnessTreshold = 2, 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) > 20 :
+ 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:
+ import sys
+ sys.exit(1)
+
+# put back original bounds for wholebody methods
+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)
+
diff --git a/script/scenarios/memmo/talos_circle_oriented_path.py b/script/scenarios/memmo/talos_circle_oriented_path.py
new file mode 100644
index 00000000..514d41e5
--- /dev/null
+++ b/script/scenarios/memmo/talos_circle_oriented_path.py
@@ -0,0 +1,136 @@
+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
+statusFilename = "infos.log"
+
+
+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
+rbprmBuilder.setJointBounds ("root_joint", [-2,2, -2, 2, 1., 1.])
+
+# 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([-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",0.2)
+ps.setParameter("DynamicPlanner/sizeFootY",0.12)
+ps.setParameter("DynamicPlanner/friction",0.5)
+ps.setParameter("Kinodynamic/forceOrientation",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)
+#load the viewer
+try :
+ v = vf.createViewer(displayArrows = 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)
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[0:3] = [0,0,1.]
+q_init[3:7] = [0,0,0,1]
+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), 1.]
+# 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 :
+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)
+
--
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