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  • pfernbac/hpp-rbprm-corba
  • jchemin/hpp-rbprm-corba
  • gsaurel/hpp-rbprm-corba
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with 75 additions and 38 deletions
script/scenarios/sandbox/dynamic/downSlope_hyq_interpKino.py → script/dynamic/downSlope_hyq_interpKino.py
View file @ 3a39a6b3
......@@ -90,13 +90,13 @@ r(q_init)
configs = fullBody.interpolate(0.08,pathId=pathId,robustnessTreshold = 1, filterStates = True)
print "number of configs =", len(configs)
print("number of configs =", len(configs))
r(configs[-1])
from hpp.gepetto import PathPlayer
pp = PathPlayer (fullBody.client.basic, r)
from fullBodyPlayer import Player
from .fullBodyPlayer import Player
player = Player(fullBody,pp,tp,configs,draw=True,optim_effector=False,use_velocity=dynamic,pathId = pathId)
#player.displayContactPlan()
......
script/scenarios/sandbox/dynamic/downSlope_hyq_interpKino2.py → script/dynamic/downSlope_hyq_interpKino2.py
View file @ 3a39a6b3
......@@ -87,13 +87,13 @@ r(q_init)
configs = fullBody.interpolate(0.08,pathId=pathId,robustnessTreshold = 0, filterStates = True)
print "number of configs =", len(configs)
print("number of configs =", len(configs))
r(configs[-1])
from hpp.gepetto import PathPlayer
pp = PathPlayer (fullBody.client.basic, r)
from fullBodyPlayer import Player
from .fullBodyPlayer import Player
player = Player(fullBody,pp,tp,configs,draw=True,optim_effector=False,use_velocity=dynamic,pathId = pathId)
player.displayContactPlan()
......
script/scenarios/sandbox/dynamic/flatGround_hrp2_interp.py → script/dynamic/flatGround_hrp2_interp.py
View file @ 3a39a6b3
......@@ -2,13 +2,13 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
print "####################################"
print "# SOLVING P1 : #"
print("####################################")
print("# SOLVING P1 : #")
import flatGround_hrp2_pathKino as tp
print "# DONE #"
print "####################################"
print "# SOLVING P2 : #"
print "####################################"
print("# DONE #")
print("####################################")
print("# SOLVING P2 : #")
print("####################################")
import time
......@@ -114,7 +114,7 @@ pp = PathPlayer (fullBody.client.basic, r)
import fullBodyPlayerHrp2
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 1, filterStates = True)
print "number of configs :", len(configs)
print("number of configs :", len(configs))
......@@ -129,22 +129,22 @@ configs = configs[:-1]
player.displayContactPlan(1.)
#player.interpolate(2,len(configs)-1)
print "####################################"
print "# SOLVING P2 : #"
print "# DONE #"
print "####################################"
print "# Writing contact sequence file : #"
print "####################################"
print("####################################")
print("# SOLVING P2 : #")
print("# DONE #")
print("####################################")
print("# Writing contact sequence file : #")
print("####################################")
from planning.configs.straight_walk_dynamic_config import *
from generate_contact_sequence import *
cs = generateContactSequence(fullBody,configs,r)
filename = OUTPUT_DIR + "/" + OUTPUT_SEQUENCE_FILE
cs.saveAsXML(filename, CONTACT_SEQUENCE_XML_TAG)
print "save contact sequence : ",filename
print "####################################"
print "# Writing contact sequence file : #"
print "# DONE #"
print "####################################"
print("save contact sequence : ",filename)
print("####################################")
print("# Writing contact sequence file : #")
print("# DONE #")
print("####################################")
script/scenarios/sandbox/dynamic/flatGround_hrp2_interpSTATIC.py → script/dynamic/flatGround_hrp2_interpSTATIC.py
View file @ 3a39a6b3
......@@ -79,7 +79,7 @@ fullBody.runLimbSampleAnalysis(larmId, "ReferenceConfiguration", True)
tGenerate = time.time() - tStart
print "generate databases in : "+str(tGenerate)+" s"
print("generate databases in : "+str(tGenerate)+" s")
q_0 = fullBody.getCurrentConfig();
......@@ -146,7 +146,7 @@ import fullBodyPlayerHrp2
tStart = time.time()
configsFull = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 3, filterStates = True)
tInterpolateConfigs = time.time() - tStart
print "number of configs :", len(configsFull)
print("number of configs :", len(configsFull))
......@@ -172,6 +172,6 @@ cs = generateContactSequence(fullBody,configs,beginState, endState,r)
filename = OUTPUT_DIR + "/" + OUTPUT_SEQUENCE_FILE
cs.saveAsXML(filename, "ContactSequence")
print "save contact sequence : ",filename
print("save contact sequence : ",filename)
script/scenarios/sandbox/dynamic/flatGround_hrp2_interpSTATIC_testTransition.py → script/dynamic/flatGround_hrp2_interpSTATIC_testTransition.py
View file @ 3a39a6b3
......@@ -4,7 +4,7 @@ from hpp.gepetto import Viewer
import time
from constraint_to_dae import *
from hpp.corbaserver.rbprm.rbprmstate import State,StateHelper
from display_tools import *
from hpp.corbaserver.rbprm.tools.display_tools import *
import flatGround_hrp2_pathKino as tp
import time
import numpy as np
......@@ -64,7 +64,7 @@ fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 50000, "for
fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(lLegId, "./db/hrp2_lleg_db.db")
fullBody.setReferenceConfig (q_ref)
## Add arms (not used for contact) :
## Add arms (not used for contact) :
"""
......@@ -98,10 +98,10 @@ fullBody.runLimbSampleAnalysis(larmId, "ReferenceConfiguration", True)
tGenerate = time.time() - tStart
print "generate databases in : "+str(tGenerate)+" s"
print("generate databases in : "+str(tGenerate)+" s")
q_0 = fullBody.getCurrentConfig();
q_0 = fullBody.getCurrentConfig();
#~ fullBody.createOctreeBoxes(r.client.gui, 1, rarmId, q_0,)
......@@ -180,7 +180,7 @@ import fullBodyPlayerHrp2
tStart = time.time()
configsFull = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 0, filterStates = True,testReachability=False,quasiStatic=False)
tInterpolateConfigs = time.time() - tStart
print "number of configs :", len(configsFull)
print("number of configs :", len(configsFull))
r(configsFull[-1])
"""
......@@ -204,7 +204,7 @@ cs = generateContactSequence(fullBody,configs,beginState, endState,r)
filename = OUTPUT_DIR + "/" + OUTPUT_SEQUENCE_FILE
cs.saveAsXML(filename, "ContactSequence")
print "save contact sequence : ",filename
print("save contact sequence : ",filename)
......@@ -311,7 +311,7 @@ for i in range(10000):
from parse_bench import *
parseBenchmark([])
from check_qp import check_traj_valid
from check_qp import check_traj_valid
check_traj_valid(ps,fullBody,s0,s02,pIds)
......
script/scenarios/sandbox/dynamic/flatGround_hyq_interpKino.py → script/dynamic/flatGround_hyq_interpKino.py
View file @ 3a39a6b3
......@@ -5,7 +5,7 @@ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.gepetto import Viewer
from constraint_to_dae import *
from hpp.corbaserver.rbprm.rbprmstate import State,StateHelper
from display_tools import *
from hpp.corbaserver.rbprm.tools.display_tools import *
#calling script darpa_hyq_path to compute root path
import flatGround_hyq_pathKino as tp
......@@ -24,7 +24,7 @@ urdfSuffix = ""
srdfSuffix = ""
# This time we load the full body model of HyQ
fullBody = FullBody ()
fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.setJointBounds ("base_joint_xyz", [-5,5, -1.5, 1.5, 0.5, 0.8])
......@@ -77,7 +77,7 @@ fullBody.addLimb(rhLegId,rhLeg,rhFoot,offset,normal, legx, legy, nbSamples, "man
fullBody.runLimbSampleAnalysis(rhLegId, "jointLimitsDistance", True)
q_0 = fullBody.getCurrentConfig();
q_0 = fullBody.getCurrentConfig();
q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.ps.configAtParam(0,0.01)[0:7] # use this to get the correct orientation
q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.ps.configAtParam(0,tp.ps.pathLength(0))[0:7]
dir_init = tp.ps.configAtParam(0,0.01)[7:10]
......
script/dynamic/flat_ground_hrp2_wb.py 0 → 100644
View file @ 3a39a6b3
from .flatGround_hrp2_interp import *
print("# generating MUSCOD problem #")
print("####################################")
import planning.generate_straight_walk_dynamic_muscod_problem as mp
print("####################################")
print("# generating MUSCOD problem #")
print("# DONE #")
print("####################################")
print("# Calling MUSCOD : #")
print("####################################")
cmd = "ssh -X iwaki 'cd /local/pfernbac/muscod/walk_dynamic/uc-dual/build ; source /local/pfernbac/config.sh ; muscod_release straight_walk_dynamic ; killall pgxwin_server'"
import subprocess
try :
subprocess.check_output(cmd,shell=True)
print("close PGPLOT server to continue ...")
except subprocess.CalledProcessError:
print("above error 'Error in `muscod_release'' is normal, only red ERROR message are an issue")
print("####################################")
print("# Calling MUSCOD : #")
print("# DONE #")
print("####################################")
print("# WholeBody script : : #")
print("####################################")
import planning.whole_body as wb
print("####################################")
print("# WholeBody script : : #")
print("# DONE #")
print("####################################")
script/scenarios/sandbox/dynamic/fullBodyPlayer.py → script/dynamic/fullBodyPlayer.py
View file @ 3a39a6b3
......@@ -82,7 +82,7 @@ class Player (object):
start = time.clock()
self.configs = self.fullBody.interpolate(0.12, 10, 10, True)
end = time.clock()
print "Contact plan generated in " + str(end-start) + "seconds"
print("Contact plan generated in " + str(end-start) + "seconds")
def displayContactPlan(self,pause = 0.5):
self.viewer.client.gui.setVisibility("hyq", "ON")
......
script/scenarios/sandbox/dynamic/fullBodyPlayerHrp2.py → script/dynamic/fullBodyPlayerHrp2.py
View file @ 3a39a6b3
......@@ -74,7 +74,7 @@ class Player(object):
start = time.clock()
self.configs = self.fullBody.interpolate(0.12, 10, 10, True)
end = time.clock()
print "Contact plan generated in " + str(end-start) + "seconds"
print("Contact plan generated in " + str(end-start) + "seconds")
def displayContactPlan(self,timeScale = 1.):
self.viewer.client.gui.setVisibility("hrp2_14", "ON")
......
script/scenarios/sandbox/dynamic/fullBodyPlayerHyQ.py → script/dynamic/fullBodyPlayerHyQ.py
View file @ 3a39a6b3
......@@ -82,7 +82,7 @@ class Player (object):
start = time.clock()
self.configs = self.fullBody.interpolate(0.12, 10, 10, True)
end = time.clock()
print "Contact plan generated in " + str(end-start) + "seconds"
print("Contact plan generated in " + str(end-start) + "seconds")
def displayContactPlan(self,pause = 0.5):
self.viewer.client.gui.setVisibility("hyq", "ON")
......