diff --git a/CMakeLists.txt b/CMakeLists.txt
index 57661586c346f1cd766ce51b2dff4a719e92de6b..d23620f95bbd7bbbfa2eebd7cd611467bbad5b72 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,30 +61,40 @@ install(FILES
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES
+ data/urdf/hrp2_trunk.urdf
+ data/urdf/hrp2_rom.urdf
data/urdf/box_rom.urdf
data/urdf/box.urdf
data/urdf/scene.urdf
data/urdf/scene_wall.urdf
+ data/urdf/truck.urdf
#~ data/urdf/scene2.urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
)
install(FILES
+ data/srdf/hrp2_trunk.srdf
+ data/srdf/hrp2_rom.srdf
data/srdf/box_rom.srdf
data/srdf/box.srdf
data/srdf/scene.srdf
data/srdf/scene_wall.srdf
+ data/srdf/truck.srdf
#~ data/srdf/scene2.srdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
)
install(FILES
data/meshes/car.stl
data/meshes/car_simple.stl
+ data/meshes/hrp2_trunk.stl
+ data/meshes/hrp2_rom.stl
data/meshes/box.stl
data/meshes/box_rom.stl
data/meshes/robot_box.stl
data/meshes/chair_simple.stl
data/meshes/ground.stl
data/meshes/ground_table.stl
+ data/meshes/truck.stl
+ data/meshes/truck_vision.stl
#~ data/meshes/pedal.stl
#~ data/meshes/board.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
diff --git a/README.md b/README.md
old mode 100644
new mode 100755
diff --git a/data/meshes/hrp2_rom.stl b/data/meshes/hrp2_rom.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ec7302e661a60d0a9bec067d5ce01e0e91e88ba8
Binary files /dev/null and b/data/meshes/hrp2_rom.stl differ
diff --git a/data/meshes/hrp2_trunk.stl b/data/meshes/hrp2_trunk.stl
new file mode 100644
index 0000000000000000000000000000000000000000..d7c56faed2c31f0f67e719dbdc5af38b3739a860
Binary files /dev/null and b/data/meshes/hrp2_trunk.stl differ
diff --git a/data/meshes/truck.stl b/data/meshes/truck.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ebf60f68438d516e40f57895e5d2951f89887329
Binary files /dev/null and b/data/meshes/truck.stl differ
diff --git a/data/meshes/truck_vision.stl b/data/meshes/truck_vision.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3144b3b16c4c76516a9c0d3974c1a1abc59b9fc8
Binary files /dev/null and b/data/meshes/truck_vision.stl differ
diff --git a/data/roms/centers.txt b/data/roms/centers.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9252d6a0a2afa37e47664dde4313150dfdb43509
--- /dev/null
+++ b/data/roms/centers.txt
@@ -0,0 +1,48 @@
+This file contains the coordinate and radius
+of the chebyschev ball associated to each limb's ROM
+
+rleg
+center =
+ 0.1362
+ -0.1887
+ -0.1498
+
+
+radius =
+ 0.4237
+
+lleg
+center =
+
+ 0.0092
+ 0.0357
+ -0.2253
+
+
+radius =
+ 0.4023
+
+
+rarm
+center =
+
+ 0.1014
+ -0.3514
+ 0.5129
+
+
+radius =
+ 0.4308
+
+
+larm
+center =
+
+ 0.1070
+ 0.3497
+ 0.5331
+
+
+radius =
+ 0.4302
+
diff --git a/data/roms/larm.erom b/data/roms/larm.erom
new file mode 100644
index 0000000000000000000000000000000000000000..0abbe818888a92c95c5367cfd43479e0d24ab1c4
--- /dev/null
+++ b/data/roms/larm.erom
@@ -0,0 +1,49999 @@
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diff --git a/data/roms/larm_simplified.mtl b/data/roms/larm_simplified.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/data/roms/larm_simplified.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
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diff --git a/data/roms/lleg.erom b/data/roms/lleg.erom
new file mode 100644
index 0000000000000000000000000000000000000000..e2d6835b59138813fde220e42d16f915d87df641
--- /dev/null
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diff --git a/data/roms/lleg_simplified.mtl b/data/roms/lleg_simplified.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/data/roms/lleg_simplified.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/data/roms/rarm.erom b/data/roms/rarm.erom
new file mode 100644
index 0000000000000000000000000000000000000000..57af9a073b4048e2dcfec0cb18beb43faca06892
--- /dev/null
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diff --git a/data/roms/rarm_simplified.mtl b/data/roms/rarm_simplified.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/data/roms/rarm_simplified.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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+newmtl None
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+d 1
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diff --git a/data/roms/rleg.erom b/data/roms/rleg.erom
new file mode 100644
index 0000000000000000000000000000000000000000..7dc4c8398de13a0d4c7878cbaec9bfa6a611070e
--- /dev/null
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+-0.16445241393,-0.309332901045,-0.193952858398
+-0.215910840308,-0.301063865099,-0.0634150336153
+-0.444165051617,-0.173294911416,-0.151902539635
+-0.330549306702,-0.213025197534,-0.39155228811
+-0.250061150515,-0.0306024662238,-0.160965076705
+0.186697243671,-0.309103960008,-0.437558146967
+-0.521645846361,-0.217467890856,-0.327424898534
+-0.0421923830376,-0.263811894331,-0.171531404058
+0.057564295301,-0.254793580868,-0.162129525262
+0.548741245231,-0.278282447408,-0.117772461756
+0.0834521965613,-0.197829598233,-0.126691472681
+-0.0858754927467,-0.212865082714,-0.126806495843
+0.0150009252902,-0.286613794527,-0.573247296332
+0.108839377586,-0.219307102169,-0.338751620621
+-0.296502044004,-0.31746309982,-0.311292711338
+0.219830073177,-0.201264657779,-0.506731454302
+-0.314939807066,-0.171050016741,-0.0211014205934
+-0.291102205928,-0.376680240532,-0.0844805148189
+-0.414831315429,-0.0659125893177,-0.139376015388
+-0.118392017889,-0.202993915405,-0.372066320198
+-0.246621523071,-0.195850023396,-0.183064384067
+0.340947993801,-0.454518233189,-0.236158917071
+-0.213677414018,-0.116418255111,-0.366724046201
+-0.170770649824,-0.280816752834,-0.085447627809
+-0.142052919467,-0.15981072913,-0.414944823793
+-0.293870653989,-0.10476661991,-0.561225533142
+-0.333899213367,-0.113842160823,-0.174946524867
+-0.264688238818,-0.273159371123,-0.329859097054
+0.16900243292,-0.189441505753,-0.247583207785
+0.397917776647,-0.137702638811,-0.38203231203
+0.0658269536565,-0.220147941926,-0.257858299937
+-0.0893708467563,-0.504361352082,-0.41806402597
+-0.158446615362,-0.0651828803903,-0.325779753042
+0.155636664749,-0.474518203178,-0.305792165152
+-0.394840604764,0.0668856904029,-0.157337814715
+-0.0737138699333,-0.306969483001,-0.470754001603
+0.0470180734673,-0.207881737492,-0.132455353739
+0.315536269441,0.013664414202,-0.541068922773
+-0.375207029262,0.16123955739,-0.257928179151
+0.243294219512,-0.102522593834,-0.128487185273
+-0.11793663999,-0.380618785753,-0.406584919759
+-0.241373334505,-0.327122475928,-0.446496211852
+-0.118160395322,-0.0177236343508,-0.412888883527
+0.327572825019,-0.472241925846,-0.307107188627
+0.285466741255,-0.357890395748,-0.406445900397
+-0.39602689201,-0.335728260689,-0.213631588408
+-0.491871123117,-0.292696028786,-0.221414182333
+0.52897493563,-0.0766120125054,-0.128194276385
+0.46857645063,-0.14836455029,-0.341979868443
+0.261389908053,-0.346627998671,-0.420948586741
+0.278941932626,-0.30136821375,-0.293804835132
diff --git a/data/roms/rleg_simplified.mtl b/data/roms/rleg_simplified.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70d3ba1dabe6f47379805b4d5e0070f98d01ad8b
--- /dev/null
+++ b/data/roms/rleg_simplified.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/srdf/hrp2_rom.srdf b/data/srdf/hrp2_rom.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..650020c5bdc440a4aac53362274ff3df0c8ae0ec
--- /dev/null
+++ b/data/srdf/hrp2_rom.srdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="hrp2_rom">
+ <handle name="handle">
+ <position> 0 0 0 1 0 0 0 </position>
+ <link name="base_link"/>
+ </handle>
+ <handle name="handle2">
+ <position> 0 0 0
+ 0 0 0.7071067811865476 0.7071067811865476 </position>
+ <link name="base_link"/>
+ </handle>
+ <contact name="box_surface">
+ <link name="base_link"/>
+ <point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+ +0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
+ <triangle> 0 2 1 4 5 6</triangle>
+ </contact>
+</robot>
diff --git a/data/srdf/hrp2_trunk.srdf b/data/srdf/hrp2_trunk.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..8538107defdfb1a2a6e59454a2b6f07ca8a7e4fb
--- /dev/null
+++ b/data/srdf/hrp2_trunk.srdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="hrp2_trunk">
+ <handle name="handle">
+ <position> 0 0 0 1 0 0 0 </position>
+ <link name="base_link"/>
+ </handle>
+ <handle name="handle2">
+ <position> 0 0 0
+ 0 0 0.7071067811865476 0.7071067811865476 </position>
+ <link name="base_link"/>
+ </handle>
+ <contact name="box_surface">
+ <link name="base_link"/>
+ <point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+ +0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
+ <triangle> 0 2 1 4 5 6</triangle>
+ </contact>
+</robot>
diff --git a/data/srdf/truck.srdf b/data/srdf/truck.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..c658b8bd970e1ef5ea3b0dfb7c9b457e78029bbb
--- /dev/null
+++ b/data/srdf/truck.srdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="truck">
+ <handle name="handle">
+ <position> 0 0 0 1 0 0 0 </position>
+ <link name="base_link"/>
+ </handle>
+ <handle name="handle2">
+ <position> 0 0 0
+ 0 0 0.7071067811865476 0.7071067811865476 </position>
+ <link name="base_link"/>
+ </handle>
+ <contact name="box_surface">
+ <link name="base_link"/>
+ <point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+ +0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
+ <triangle> 0 2 1 4 5 6</triangle>
+ </contact>
+</robot>
diff --git a/data/urdf/box_rom.urdf b/data/urdf/box_rom.urdf
index bbf27ab394fcdfdb33aa9def77b5550d781149b8..716ce238334950db9a85e03365667242c42afc47 100755
--- a/data/urdf/box_rom.urdf
+++ b/data/urdf/box_rom.urdf
@@ -1,9 +1,9 @@
-<robot name="box">
+<robot name="hrp2_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/box_rom.stl"/>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
@@ -12,7 +12,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/box_rom.stl"/>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
</geometry>
</collision>
</link>
diff --git a/data/urdf/hrp2_trunk.urdf b/data/urdf/hrp2_trunk.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b2d056f27f7f6b843d3f54f18e3f021991d82b5a
--- /dev/null
+++ b/data/urdf/hrp2_trunk.urdf
@@ -0,0 +1,19 @@
+<robot name="hrp2_trunk">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/data/urdf/truck.urdf b/data/urdf/truck.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..07070009ca69b0aa7c2efc76d886a634b1cd1acf
--- /dev/null
+++ b/data/urdf/truck.urdf
@@ -0,0 +1,19 @@
+<robot name="truck">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package:///../hpp-rbprm-corba/meshes/truck_vision.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/truck.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
old mode 100644
new mode 100755
index 320898691bf45e7c753ecf5811bc4fa2b691e84f..feb19dfb9d15b6d53cc0e3c16519ea0d51011b78
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -90,11 +90,12 @@ module hpp
/// Get Sample configuration
/// \return dofArray Array of degrees of freedom.
floatSeq getSampleConfig(in string sampleName, in unsigned short sampleId) raises (Error);
+ floatSeq getSamplePosition(in string sampleName, in unsigned short sampleId) raises (Error);
floatSeq generateContacts(in floatSeq dofArray, in floatSeq direction) raises (Error);
floatSeq getContactSamplesIds(in string name, in floatSeq dofArray, in floatSeq direction) raises (Error);
- void addLimb(in string limb, in string effector, in floatSeq offset, in floatSeq normal,
+ void addLimb(in string id, in string limb, in string effector, in floatSeq offset, in floatSeq normal,
in double x, in double y, in unsigned short samples, in double resolution) raises (Error);
void setStartState(in floatSeq dofArray, in Names_t contactLimbs) raises (Error);
void setEndState(in floatSeq dofArray, in Names_t contactLimbs) raises (Error);
diff --git a/include/hpp/corbaserver/rbprm/doc.hh.in b/include/hpp/corbaserver/rbprm/doc.hh.in
old mode 100644
new mode 100755
diff --git a/include/hpp/corbaserver/rbprm/server.hh b/include/hpp/corbaserver/rbprm/server.hh
old mode 100644
new mode 100755
diff --git a/script/generateROMs.py b/script/generateROMs.py
new file mode 100644
index 0000000000000000000000000000000000000000..de961a5c3166c53e3ed756b710e4efb0ed9f92b3
--- /dev/null
+++ b/script/generateROMs.py
@@ -0,0 +1,91 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", [-1,1, -4, -1, 1, 2.2])
+
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+nbSamples = 50000
+
+ps = ProblemSolver( fullBody )
+
+#~ AFTER loading obstacles
+rLegId = '7rLeg'
+rLeg = 'RLEG_JOINT0'
+rLegOffset = [0,-0.105,0,]
+rLegNormal = [0,1,0]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, 0.01)
+
+lLegId = '8lLeg'
+lLeg = 'LLEG_JOINT0'
+lLegOffset = [0,-0.105,0]
+lLegNormal = [0,1,0]
+lLegx = 0.09; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, 0.01)
+
+rarmId = '3Rarm'
+rarm = 'RARM_JOINT0'
+rHand = 'RARM_JOINT5'
+rArmOffset = [-0.05,-0.050,-0.050]
+rArmNormal = [1,0,0]
+rArmx = 0.024; rArmy = 0.024
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, 0.01)
+
+
+#~ AFTER loading obstacles
+larmId = '4Larm'
+larm = 'LARM_JOINT0'
+lHand = 'LARM_JOINT5'
+lArmOffset = [-0.05,-0.050,-0.050]
+lArmNormal = [1,0,0]
+lArmx = 0.024; lArmy = 0.024
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, 0.01)
+
+
+
+q_0 = fullBody.getCurrentConfig ()
+
+limit = nbSamples-1;
+f1=open('./data/roms/rleg.erom', 'w+')
+for i in range(0,limit):
+ q = fullBody.getSamplePosition(rLegId,i)
+ f1.write(str(q[0]) + "," + str(q[1]) + "," + str(q[2]) + "\n")
+f1.close()
+
+
+f1=open('./data/roms/lleg.erom', 'w+')
+for i in range(0,limit):
+ q = fullBody.getSamplePosition(lLegId,i)
+ f1.write(str(q[0]) + "," + str(q[1]) + "," + str(q[2]) + "\n")
+f1.close()
+
+
+f1=open('./data/roms/rarm.erom', 'w+')
+for i in range(0,limit):
+ q = fullBody.getSamplePosition(rarmId,i)
+ f1.write(str(q[0]) + "," + str(q[1]) + "," + str(q[2]) + "\n")
+f1.close()
+
+
+f1=open('./data/roms/larm.erom', 'w+')
+for i in range(0,limit):
+ q = fullBody.getSamplePosition(larmId,i)
+ f1.write(str(q[0]) + "," + str(q[1]) + "," + str(q[2]) + "\n")
+f1.close()
+
+
diff --git a/script/load.py b/script/load.py
old mode 100644
new mode 100755
diff --git a/script/loadfullbody.py b/script/loadfullbody.py
old mode 100644
new mode 100755
diff --git a/script/loadhrp2.py b/script/loadhrp2.py
old mode 100644
new mode 100755
index 7e21845c620eb7ab7216bf40fd1c754dba36c648..a3001216fd6a2b82173954a126b46957ba1c2cb3
--- a/script/loadhrp2.py
+++ b/script/loadhrp2.py
@@ -24,17 +24,19 @@ r = Viewer (ps)
r.loadObstacleModel ('hpp-rbprm-corba', "scene", "car")
#~ AFTER loading obstacles
+rLegId = '1rLeg'
rLeg = 'RLEG_JOINT0'
-rLegOffset = [0,0,-0.105]
-rLegNormal = [0,0,1]
+rLegOffset = [0,-0.105,0,]
+rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
-fullBody.addLimb(rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, 0.01)
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, 0.01)
+lLegId = '1lLeg'
lLeg = 'LLEG_JOINT0'
-lLegOffset = [0,0,-0.105]
-lLegNormal = [0,0,1]
+lLegOffset = [0,-0.105,0]
+lLegNormal = [0,1,0]
lLegx = 0.09; lLegy = 0.05
-fullBody.addLimb(lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 20000, 0.01)
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 20000, 0.01)
fullBody.client.basic.robot.setJointConfig('LARM_JOINT0',[1])
fullBody.client.basic.robot.setJointConfig('RARM_JOINT0',[-1])
@@ -67,11 +69,11 @@ pp = PathPlayer (fullBody.client.basic, r)
#~
pp (0)
-fullBody.setStartState(q_init,[rLeg,lLeg])
-fullBody.setEndState(q_goal,[rLeg])
+fullBody.setStartState(q_init,[rLegId,lLegId])
+fullBody.setEndState(q_goal,[rLegId])
-configs = fullBody.interpolate(0.2)
-i = 0;
+configs = fullBody.interpolate(0.1)
+i = 1;
r (configs[i]); i=i+1; i-1
#~ pp.toFile(0, "/home/stonneau/test.txt")
diff --git a/script/loadhrp2crawl.py b/script/loadhrp2crawl.py
old mode 100644
new mode 100755
index 4df5f1500d5c64a9d07238faed16cf5a24001a6e..a44bbbf69af22d3e9091dabb3e7bc711012ae364
--- a/script/loadhrp2crawl.py
+++ b/script/loadhrp2crawl.py
@@ -24,37 +24,54 @@ r = Viewer (ps)
r.loadObstacleModel ('hpp-rbprm-corba', "scene", "car")
#~ AFTER loading obstacles
+rLegId = '7rLeg'
rLeg = 'RLEG_JOINT0'
-rKnee = 'RLEG_JOINT3'
-rLegOffset = [0.105,0.055,0.017]
-rLegNormal = [-1,0,0]
-rLegx = 0.05; rLegy = 0.05
-fullBody.addLimb(rLeg,rKnee,rLegOffset,rLegNormal, rLegx, rLegy, 5000, 0.01)
+rLegOffset = [0,-0.105,0,]
+rLegNormal = [0,1,0]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, 0.01)
+lLegId = '8lLeg'
lLeg = 'LLEG_JOINT0'
-lKnee = 'LLEG_JOINT3'
-lLegOffset = [0.105,0.055,0.017]
-lLegNormal = [-1,0,0]
-lLegx = 0.05; lLegy = 0.05
-fullBody.addLimb(lLeg,lKnee,lLegOffset,lLegNormal, lLegx, lLegy, 5000, 0.01)
-#~
+lLegOffset = [0,-0.105,0]
+lLegNormal = [0,1,0]
+lLegx = 0.09; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 20000, 0.01)
-#~ AFTER loading obstacles
+rarmId = '3RKarm'
rarm = 'RARM_JOINT0'
rHand = 'RARM_JOINT5'
-rArmOffset = [0.03,-0.050,-0.050]
+rArmOffset = [-0.05,-0.050,-0.050]
rArmNormal = [1,0,0]
rArmx = 0.024; rArmy = 0.024
-fullBody.addLimb(rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 5000, 0.01)
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 5000, 0.01)
#~ AFTER loading obstacles
+larmId = '4RKarm'
larm = 'LARM_JOINT0'
lHand = 'LARM_JOINT5'
-lArmOffset = [0.03,-0.050,-0.050]
+lArmOffset = [-0.05,-0.050,-0.050]
lArmNormal = [1,0,0]
lArmx = 0.024; lArmy = 0.024
-fullBody.addLimb(larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 5000, 0.01)
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 5000, 0.01)
+
+rLegId = '5RKnee'
+rLeg = 'RLEG_JOINT0'
+rKnee = 'RLEG_JOINT3'
+rLegOffset = [0.105,0.055,0.017]
+rLegNormal = [-1,0,0]
+rLegx = 0.05; rLegy = 0.05
+fullBody.addLimb(rLegId, rLeg,rKnee,rLegOffset,rLegNormal, rLegx, rLegy, 5000, 0.01)
+
+lLegId = '6LKnee'
+lLeg = 'LLEG_JOINT0'
+lKnee = 'LLEG_JOINT3'
+lLegOffset = [0.105,0.055,0.017]
+lLegNormal = [-1,0,0]
+lLegx = 0.05; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,lKnee,lLegOffset,lLegNormal, lLegx, lLegy, 5000, 0.01)
+#~
q_0 = fullBody.getCurrentConfig (); r (q_0)
@@ -71,30 +88,30 @@ q_init [0:3] = [0, -0.5, 0.3]; fullBody.setCurrentConfig (q_init); r (q_init)
q_goal = q_init [::]
-q_goal [0:3] = [0.1, -0.5, 0.3]
+q_goal [0:3] = [0.4, -0.5, 0.3]
-#~ ps.setInitialConfig (q_init)
-#~ ps.addGoalConfig (q_goal)
-#~ r(q_goal)
-#~ ps.solve ()
-#~
-#~ from hpp.gepetto import PathPlayer
-#~ pp = PathPlayer (fullBody.client.basic, r)
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+r(q_goal)
+ps.solve ()
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (fullBody.client.basic, r)
#~ pp (0)
q_init = fullBody.generateContacts(q_init, [0,0,-1])
r (q_init)
-#~ fullBody.setCurrentConfig (q_goal)
-#~ q_goal = fullBody.generateContacts(q_goal, [0,0,-1])
-#~
-#~ fullBody.setStartState(q_init,[rLeg,lLeg,rarm,larm])
-#~ fullBody.setEndState(q_goal,[rLeg,lLeg,rarm,larm])
+fullBody.setCurrentConfig (q_goal)
+q_goal = fullBody.generateContacts(q_goal, [0,0,-1])
+
+fullBody.setStartState(q_init,[rLegId,lLegId,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId,rarmId,larmId])
#~
-#~ configs = fullBody.interpolate(0.005)
-#~ i = 0;
-#~ r (configs[i]); i=i+1; i-1
+configs = fullBody.interpolate(0.05)
+i = 0;
+r (configs[i]); i=i+1; i-1
#~ configs = fullBody.getContactSamplesIds(rLeg, q_init, [0,1,0])
#~ i = 0
diff --git a/script/loadhrp2crawlback.py b/script/loadhrp2crawlback.py
index 06ddbe69ef08dc5252b2fb06e7a8a6853eafbf70..e24d56adcbbe80e27ab94619d456f5f29b1fc067 100644
--- a/script/loadhrp2crawlback.py
+++ b/script/loadhrp2crawlback.py
@@ -23,7 +23,7 @@ ps = ProblemSolver( fullBody )
ps.addPathOptimizer("RandomShortcut")
ps.addPathOptimizer("GradientBased")
r = Viewer (ps)
-r.loadObstacleModel ('hpp-rbprm-corba', "scene", "car")
+r.loadObstacleModel ('hpp-rbprm-corba', "scene_wall", "car")
#~ AFTER loading obstacles
rLegId = '7rLeg'
diff --git a/script/loadhrp2truck.py b/script/loadhrp2truck.py
new file mode 100644
index 0000000000000000000000000000000000000000..4d5d0cd7b382b9816f7201e1f9e44194ec66bfbf
--- /dev/null
+++ b/script/loadhrp2truck.py
@@ -0,0 +1,109 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", [-1,1, -4, -1, 1, 2.2])
+
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( fullBody )
+ps.addPathOptimizer("RandomShortcut")
+ps.addPathOptimizer("GradientBased")
+r = Viewer (ps)
+r.loadObstacleModel ('hpp-rbprm-corba', "truck", "car")
+
+#~ AFTER loading obstacles
+rLegId = '7rLeg'
+rLeg = 'RLEG_JOINT0'
+rLegOffset = [0,-0.105,0,]
+rLegNormal = [0,1,0]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, 0.01)
+
+lLegId = '8lLeg'
+lLeg = 'LLEG_JOINT0'
+lLegOffset = [0,-0.105,0]
+lLegNormal = [0,1,0]
+lLegx = 0.09; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 20000, 0.01)
+
+rarmId = '3Rarm'
+rarm = 'RARM_JOINT0'
+rHand = 'RARM_JOINT5'
+rArmOffset = [-0.05,-0.050,-0.050]
+rArmNormal = [1,0,0]
+rArmx = 0.024; rArmy = 0.024
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 20000, 0.01)
+
+
+#~ AFTER loading obstacles
+larmId = '4Larm'
+larm = 'LARM_JOINT0'
+lHand = 'LARM_JOINT5'
+lArmOffset = [-0.05,-0.050,-0.050]
+lArmNormal = [1,0,0]
+lArmx = 0.024; lArmy = 0.024
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 20000, 0.01)
+
+#~ rLegId = '5RKnee'
+#~ rLeg = 'RLEG_JOINT0'
+#~ rKnee = 'RLEG_JOINT3'
+#~ rLegOffset = [0.105,0.055,0.017]
+#~ rLegNormal = [-1,0,0]
+#~ rLegx = 0.05; rLegy = 0.05
+#~ fullBody.addLimb(rLegId, rLeg,rKnee,rLegOffset,rLegNormal, rLegx, rLegy, 5000, 0.01)
+
+#~ lLegId = '6LKnee'
+#~ lLeg = 'LLEG_JOINT0'
+#~ lKnee = 'LLEG_JOINT3'
+#~ lLegOffset = [0.105,0.055,0.017]
+#~ lLegNormal = [-1,0,0]
+#~ lLegx = 0.05; lLegy = 0.05
+#~ fullBody.addLimb(lLegId,lLeg,lKnee,lLegOffset,lLegNormal, lLegx, lLegy, 5000, 0.01)
+#~
+
+
+q_0 = fullBody.getCurrentConfig (); r (q_0)
+
+#~ fullBody.client.basic.robot.setJointConfig('LARM_JOINT0',[1])
+#~ fullBody.client.basic.robot.setJointConfig('RARM_JOINT0',[1])
+#~ fullBody.client.basic.robot.setJointConfig('LLEG_JOINT3',[1.5])
+#~ fullBody.client.basic.robot.setJointConfig('RLEG_JOINT3',[1.5])
+#~
+#~ fullBody.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, -0.6816387600233341, 0]); q_init = fullBody.getCurrentConfig (); r (q_init)
+
+q_init = fullBody.getCurrentConfig (); r (q_init)
+
+fullBody.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, -0.6816387600233341, 0]); q_init = fullBody.getCurrentConfig (); r (q_init)
+
+q_init = fullBody.getCurrentConfig (); r (q_init)
+q_init [0:6] = [0.0, -2.1, 2.0, 0.7316888688738209, 0.0, 0.6816387600233341]; fullBody.setCurrentConfig (q_init); r (q_init)
+
+q_goal = [0.0, -4.0, 2.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 1.5, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5, 0.0, 0.0]
+
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+r(q_goal)
+ps.solve ()
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (fullBody.client.basic, r)
+
+#~ pp (1)
+
+#~ pp.toFile(0, "/home/stonneau/test.txt")
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
old mode 100644
new mode 100755
diff --git a/src/fwd.hh b/src/fwd.hh
old mode 100644
new mode 100755
diff --git a/src/hpp-rbprm-corba.cc b/src/hpp-rbprm-corba.cc
old mode 100644
new mode 100755
diff --git a/src/hpp/corbaserver/rbprm/__init__.py b/src/hpp/corbaserver/rbprm/__init__.py
old mode 100644
new mode 100755
diff --git a/src/hpp/corbaserver/rbprm/client.py b/src/hpp/corbaserver/rbprm/client.py
old mode 100644
new mode 100755
diff --git a/src/hpp/corbaserver/rbprm/problem_solver.py b/src/hpp/corbaserver/rbprm/problem_solver.py
old mode 100644
new mode 100755
diff --git a/src/hpp/corbaserver/rbprm/rbprmbuilder.py b/src/hpp/corbaserver/rbprm/rbprmbuilder.py
old mode 100644
new mode 100755
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
old mode 100644
new mode 100755
index ddeef49040719d72d9f0e2c0989c7eac0e621816..42a7e2bf4d656b03caff5dda4536fa35038c440e
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -71,11 +71,14 @@ class FullBody (object):
self.rankInVelocity [j] = rankInVelocity
rankInVelocity += self.client.basic.robot.getJointNumberDof (j)
- def addLimb(self, name, effectorname, offset, normal, x, y, samples, resolution):
- self.client.rbprm.rbprm.addLimb(name, effectorname, offset, normal, x, y, samples, resolution)
+ def addLimb(self, limbId, name, effectorname, offset, normal, x, y, samples, resolution):
+ self.client.rbprm.rbprm.addLimb(limbId, name, effectorname, offset, normal, x, y, samples, resolution)
def getSample(self, name, idsample):
return self.client.rbprm.rbprm.getSampleConfig(name,idsample)
+
+ def getSamplePosition(self, name, idsample):
+ return self.client.rbprm.rbprm.getSamplePosition(name,idsample)
def generateContacts(self, configuration, direction):
return self.client.rbprm.rbprm.generateContacts(configuration, direction)
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
old mode 100644
new mode 100755
index b031c1e3d78afac323cddf852903c5855c50658b..655b65726cbf98e7f37e4ac5ab63efb2e55e7c34
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -159,6 +159,34 @@ namespace hpp {
return dofArray;
}
+
+ hpp::floatSeq* RbprmBuilder::getSamplePosition(const char* limb, unsigned short sampleId) throw (hpp::Error)
+ {
+ if(!fullBodyLoaded_)
+ throw Error ("No full body robot was loaded");
+ const T_Limb& limbs = fullBody_->GetLimbs();
+ T_Limb::const_iterator lit = limbs.find(std::string(limb));
+ if(lit == limbs.end())
+ {
+ std::string err("No limb " + std::string(limb) + "was defined for robot" + fullBody_->device_->name());
+ throw Error (err.c_str());
+ }
+ const RbPrmLimbPtr_t& limbPtr = lit->second;
+ hpp::floatSeq *dofArray;
+ if(sampleId > limbPtr->sampleContainer_.samples_.size())
+ {
+ std::string err("Limb " + std::string(limb) + "does not have samples.");
+ throw Error (err.c_str());
+ }
+ const sampling::Sample& sample = limbPtr->sampleContainer_.samples_[sampleId];
+ const fcl::Vec3f& position = sample.effectorPosition_;
+ dofArray = new hpp::floatSeq();
+ dofArray->length(_CORBA_ULong(3));
+ for(std::size_t i=0; i< 3; i++)
+ (*dofArray)[(_CORBA_ULong)i] = position [i];
+ return dofArray;
+ }
+
model::Configuration_t dofArrayToConfig (const model::DevicePtr_t& robot,
const hpp::floatSeq& dofArray)
{
@@ -231,13 +259,15 @@ namespace hpp {
dir[i] = direction[i];
}
model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
+ model::Configuration_t save = fullBody_->device_->currentConfiguration();
+ fullBody_->device_->currentConfiguration(config);
sampling::T_OctreeReport finalSet;
rbprm::T_Limb::const_iterator lit = fullBody_->GetLimbs().find(std::string(limbname));
if(lit == fullBody_->GetLimbs().end())
{
throw std::runtime_error ("Impossible to find limb for joint "
- + std::string(limbname) + " to robot; limb not defined exists");
+ + std::string(limbname) + " to robot; limb not defined.");
}
const RbPrmLimbPtr_t& limb = lit->second;
fcl::Transform3f transform = limb->limb_->robot()->rootJoint()->childJoint(0)->currentTransformation (); // get root transform from configuration
@@ -261,13 +291,14 @@ namespace hpp {
{
(*dofArray)[(_CORBA_ULong)i] = candCit->sample_->id_;
}
+ fullBody_->device_->currentConfiguration(save);
return dofArray;
} catch (const std::exception& exc) {
throw hpp::Error (exc.what ());
}
}
- void RbprmBuilder::addLimb(const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y, unsigned short samples, double resolution) throw (hpp::Error)
+ void RbprmBuilder::addLimb(const char* id, const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y, unsigned short samples, double resolution) throw (hpp::Error)
{
if(!fullBodyLoaded_)
throw Error ("No full body robot was loaded");
@@ -279,7 +310,7 @@ namespace hpp {
off[i] = offset[i];
norm[i] = normal[i];
}
- fullBody_->AddLimb(std::string(limb), std::string(effector), off, norm, x, y, problemSolver_->collisionObstacles(), samples,resolution);
+ fullBody_->AddLimb(std::string(id), std::string(limb), std::string(effector), off, norm, x, y, problemSolver_->collisionObstacles(), samples,resolution);
}
catch(std::runtime_error& e)
{
@@ -299,15 +330,17 @@ namespace hpp {
if(lit == fullBody->GetLimbs().end())
{
throw std::runtime_error ("Impossible to find limb for joint "
- + (*cit) + " to robot; limb not defined exists");
+ + (*cit) + " to robot; limb not defined");
}
const core::JointPtr_t joint = fullBody->device_->getJointByName(lit->second->effector_->name());
const fcl::Transform3f& transform = joint->currentTransformation ();
const fcl::Matrix3f& rot = transform.getRotation();
state.contactPositions_[*cit] = transform.getTranslation();
- // TODO this assumes z up
+ state.contactRotation_[*cit] = rot;
state.contactNormals_[*cit] = fcl::Vec3f(rot(0,2),rot(1,2), rot(2,2));
state.contacts_[*cit] = true;
+ state.contactOrder_.push(*cit);
+ state.nbContacts++;
}
state.configuration_ = config;
fullBody->device_->currentConfiguration(old);
@@ -370,8 +403,11 @@ namespace hpp {
res->length (states.size ());
std::size_t i=0;
- for(std::vector<State>::const_iterator cit = states.begin(); cit != states.end(); ++cit)
+ std::size_t id = 0;
+ for(std::vector<State>::const_iterator cit = states.begin(); cit != states.end(); ++cit, ++id)
{
+ std::cout << "ID " << id;
+ cit->print();
const core::Configuration_t config = cit->configuration_;
_CORBA_ULong size = (_CORBA_ULong) config.size ();
double* dofArray = hpp::floatSeq::allocbuf(size);
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
old mode 100644
new mode 100755
index 303a813cc65f4c6397443382966fdd8b4a22e52e..001e79ca0a1b7152e9876020ae8ee55a8755fc76
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -76,6 +76,7 @@ namespace hpp {
const char* srdfSuffix) throw (hpp::Error);
virtual hpp::floatSeq* getSampleConfig(const char* limb, unsigned short sampleId) throw (hpp::Error);
+ virtual hpp::floatSeq* getSamplePosition(const char* limb, unsigned short sampleId) throw (hpp::Error);
virtual hpp::floatSeq* generateContacts(const hpp::floatSeq& configuration,
const hpp::floatSeq& direction) throw (hpp::Error);
@@ -84,7 +85,7 @@ namespace hpp {
const hpp::floatSeq& configuration,
const hpp::floatSeq& direction) throw (hpp::Error);
- virtual void addLimb(const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y, unsigned short samples, double resolution) throw (hpp::Error);
+ virtual void addLimb(const char* id, const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y, unsigned short samples, double resolution) throw (hpp::Error);
virtual void setStartState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
virtual void setEndState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
diff --git a/src/server.cc b/src/server.cc
old mode 100644
new mode 100755