[script] add new scenario talos_plaform_random

script/scenarios/memmo/talos_platform_random.py

+from hpp.corbaserver.rbprm.talos import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+import time
+print "Plan guide trajectory ..."
+import scenarios.memmo.talos_platform_random_path as tp
+#Robot.urdfSuffix += "_safeFeet"
+pId = 0
+"""
+print "Done."
+import time
+statusFilename = tp.statusFilename
+
+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
+rootBounds = tp.rootBounds[::]
+rootBounds[-2] -= 0.2
+rootBounds[0] -= 0.2
+rootBounds[1] += 0.2
+rootBounds[2] -= 0.2
+rootBounds[3] += 0.2
+fullBody.setJointBounds ("root_joint",  rootBounds)
+fullBody.setConstrainedJointsBounds()
+
+# 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 abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) : 
+  fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
+  heuristicR = "fixedStep08"
+  heuristicL = "fixedStep08"
+  print "Use weight for straight walk"
+  fullBody.usePosturalTaskContactCreation(True)
+else :
+  fullBody.setPostureWeights(fullBody.postureWeights_straff[::]+[0]*6)
+  print "Use weight for straff walk"
+  if tp.q_goal[1] < 0 :
+    print "start with right leg"
+    heuristicL = "static"
+    heuristicR = "fixedStep06"
+  else:
+    print "start with left leg"
+    heuristicR = "static"
+    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, "fixedStep06", 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, "fixedStep06", 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] # 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 = 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] = [0,0,0]
+
+'''
+state_id = fullBody.generateStateInContact(q_init, vel_init,robustnessThreshold=5)
+assert fullBody.rLegId in fullBody.getAllLimbsInContact(state_id), "Right leg not in contact in initial state"
+assert fullBody.lLegId in fullBody.getAllLimbsInContact(state_id), "Left leg not in contact in initial state"
+q0 = fullBody.getConfigAtState(state_id)
+v(q0)
+
+state_id = fullBody.generateStateInContact(q_goal, vel_goal,robustnessThreshold=5)
+assert fullBody.rLegId in fullBody.getAllLimbsInContact(state_id), "Right leg not in contact in final state"
+assert fullBody.lLegId in fullBody.getAllLimbsInContact(state_id), "Left leg not in contact in final state"
+q1 = fullBody.getConfigAtState(state_id)
+v(q1)
+'''
+
+
+fullBody.setStaticStability(True)
+v.addLandmark('talos/base_link',0.3)
+
+# FOR EASY SCENARIOS ?
+q0 = q_init[::]
+q1 = q_goal[::]
+q0[2]=q_ref[2]+0.02
+q1[2]=q_ref[2]+0.02
+
+# specify the full body configurations as start and goal state of the problem
+fullBody.setStartState(q0,[fullBody.rLegId,fullBody.lLegId])
+fullBody.setEndState(q1,[fullBody.rLegId,fullBody.lLegId])
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = 3, filterStates = True,testReachability=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) > 5 :
+  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 or (not cg_reach_goal):
+  import sys
+  sys.exit(1)
+"""
+
+# put back original bounds for wholebody methods
+fullBody.resetJointsBounds()
+displayContactSequence(v,configs)

script/scenarios/memmo/talos_platform_random_path.py

+from hpp.corbaserver.rbprm.talos_abstract import Robot
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+from pinocchio import Quaternion
+import numpy as np
+import time
+import math
+statusFilename = "infos.log"
+
+vInit = 0.05# initial / final velocity to fix the direction
+vGoal = 0.01
+vMax = 0.5# linear velocity bound for the root
+aMax = 0.5# 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
+rootBounds = [0.2,3.9, 0.2, 2.2, 0.95, 1.05]
+rbprmBuilder.setJointBounds ("root_joint", rootBounds)
+
+# 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)
+# 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_not_flat", "planning", vf, reduceSizes=[0.15,0,0])
+try :
+    v = vf.createViewer(displayArrows = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+    v = FakeViewer()
+    
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+v.addLandmark(v.sceneName,1)
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[0:3] = [0.20,1.15,0.99]
+#q_init[0:3] = [0.20,1.15,1.0]
+q_init[3:7] = [0,0,0,1]
+print "q_init",q_init[1]
+
+# Q init => Set position and orientation
+# X will be between [groundMinX, groundMaxX]
+# Y will be between [groundMinY, groundMaxY]
+lengthPath = 0.9
+marginX = 1.7
+marginY = 0.8
+groundMinX = marginX
+groundMaxX = 4.0 - marginX
+groundMinY = marginY
+groundMaxY = 2.4 - marginY
+
+minAngleDegree = 80
+maxAngleDegree = 100
+
+positionIsRandomOnFlatGround = True
+
+# INIT
+radius = 0.01
+import random
+random.seed()
+alpha = 0.0
+if random.uniform(0.,1.) > 0.5:
+	alpha = random.uniform(minAngleDegree,maxAngleDegree)
+else:
+	alpha = random.uniform(minAngleDegree+180,maxAngleDegree+180)
+print "Test on a circle, alpha deg = ",alpha
+alpha = alpha*np.pi/180.0
+move_Y = random.uniform(-0.2,0.2)
+
+q_init_random= q_init[::]
+q_init_random [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_init = np.matrix([q_init_random[0],q_init_random[1],0]).T
+quat = Quaternion.FromTwoVectors(vx,v_init)
+q_init_random[3:7] = quat.coeffs().T.tolist()[0]
+# set initial velocity to fix the orientation
+q_init_random[-6] = vInit*np.sin(alpha)
+q_init_random[-5] = -vInit*np.cos(alpha)
+if positionIsRandomOnFlatGround :
+	# Set robot on flat ground
+	q_init_random[0] = 2.0
+	q_init_random[1] = 1.2 + move_Y
+else:
+	# Set robot at random position on platform
+	q_init_random[0] = random.uniform(groundMinX,groundMaxX)
+	q_init_random[1] = random.uniform(groundMinY,groundMaxY)
+v(q_init_random)
+
+# GOAL
+# Q goal => Set straight position in square of size (4,2)
+# 	    Orientation is the vector between position init and goal 
+q_goal_random = q_init_random[::]
+# Set robot goal at random position on platform
+q_goal_random[0] = q_init_random[0] + np.sin(alpha)*lengthPath
+q_goal_random[1] = q_init_random[1] - np.cos(alpha)*lengthPath
+v(q_goal_random)
+# Set new q_init and q_goal
+q_init = q_init_random[::]
+q_goal = q_goal_random[::]
+
+print "initial root position/velocity : ",q_init
+print "final root position/velocity : ",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.displayPath(0)#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)
+