From fa26e41f9c5ff56e9bfbb3f78c90a22ecc55c057 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Mon, 24 Jun 2019 13:41:02 +0200
Subject: [PATCH] [script] add demo script hrp2 on uneven platforms

---
 script/scenarios/demos/hrp2_plateformes.py    | 99 +++++++++++++++++++
 .../scenarios/demos/hrp2_plateformes_path.py  | 95 ++++++++++++++++++
 2 files changed, 194 insertions(+)
 create mode 100644 script/scenarios/demos/hrp2_plateformes.py
 create mode 100644 script/scenarios/demos/hrp2_plateformes_path.py

diff --git a/script/scenarios/demos/hrp2_plateformes.py b/script/scenarios/demos/hrp2_plateformes.py
new file mode 100644
index 00000000..92a40c77
--- /dev/null
+++ b/script/scenarios/demos/hrp2_plateformes.py
@@ -0,0 +1,99 @@
+from hpp.corbaserver.rbprm.hrp2 import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+import time
+print "Plan guide trajectory ..."
+import hrp2_plateformes_path as tp
+print "Done."
+import time
+
+pId = tp.ps.numberPaths() -1
+fullBody = Robot ()
+
+# Set the bounds for the root
+fullBody.setJointBounds ("root_joint",  [-5,5, -1.5, 1.5, 0.65, 0.9])
+#fullBody.setConstrainedJointsBounds()
+#fullBody.setJointBounds('leg_left_1_joint',[-0.1,0.2])
+#fullBody.setJointBounds('leg_right_1_joint',[-0.2,0.1])
+# 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
+v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
+
+# load a reference configuration
+q_ref = fullBody.referenceConfig[::]+[0]*6
+q_init = q_ref[::]
+fullBody.setReferenceConfig(q_ref)
+fullBody.setCurrentConfig (q_init)
+fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
+#fullBody.usePosturalTaskContactCreation(True)
+
+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, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.3)
+fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.3)
+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] # 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 = 0.
+# 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]+0.16
+q_goal[2] = q_ref[2]+0.16
+
+
+fullBody.setStaticStability(True)
+fullBody.setCurrentConfig (q_init)
+v(q_init)
+
+fullBody.setCurrentConfig (q_goal)
+v(q_goal)
+
+v.addLandmark('hrp2_14/base_link',0.3)
+v(q_init)
+
+# specify the full body configurations as start and goal state of the problem
+fullBody.setStartState(q_init,[fullBody.rLegId,fullBody.lLegId])
+fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lLegId])
+
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=False)
+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)
+
+#fullBody.resetJointsBounds()
+
+
diff --git a/script/scenarios/demos/hrp2_plateformes_path.py b/script/scenarios/demos/hrp2_plateformes_path.py
new file mode 100644
index 00000000..b1edac59
--- /dev/null
+++ b/script/scenarios/demos/hrp2_plateformes_path.py
@@ -0,0 +1,95 @@
+from hpp.corbaserver.rbprm.hrp2_abstract import Robot
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+import time
+
+
+
+vMax = 0.3# linear velocity bound for the root
+aMax = 0.1# 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
+rbprmBuilder.setJointBounds ("root_joint", [-5,5, -1.5, 1.5, 0.70, 0.8])
+
+# 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.setAffordanceFilter(Robot.rLegId, ['Support',])
+rbprmBuilder.setAffordanceFilter(Robot.lLegId, ['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)
+# 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_surfaces", "planning", vf,reduceSizes=[0.14,0,0])
+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] = [0.12, 0.25, 0.75]
+v (q_init)
+ps.setInitialConfig (q_init)
+# set goal config
+rbprmBuilder.setCurrentConfig (q_init)
+q_goal = q_init [::]
+q_goal[0] = 1.08
+v(q_goal)
+
+
+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")
+
+# Solve the planning problem :
+success = ps.client.problem.prepareSolveStepByStep()
+ps.client.problem.finishSolveStepByStep()
+
+# 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)
+
+# 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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