From 2286f54e8e4226d24337cce3086d326d1b5e2f67 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Wed, 17 May 2017 17:53:15 +0200
Subject: [PATCH] spiderman scenarios
---
CMakeLists.txt | 64 ++++-
data/meshes/siggraph_asia/grasp_spidey.stl | Bin 0 -> 51084 bytes
data/meshes/siggraph_asia/plane_hole.stl | Bin 0 -> 5484 bytes
data/meshes/siggraph_asia/scale_spidey.stl | Bin 0 -> 51084 bytes
data/srdf/siggraph_asia/plane_hole.srdf | 3 +
data/srdf/siggraph_asia/scale_spidey.srdf | 3 +
data/urdf/siggraph_asia/plane_hole.urdf | 19 ++
data/urdf/siggraph_asia/scale_spidey.urdf | 19 ++
.../demos/siggraph_asia/bezier_traj.py | 12 +-
.../demos/siggraph_asia/hrp2_model_no_arm.py | 72 ++++++
.../demos/siggraph_asia/plan_execute.py | 13 +-
.../siggraph_asia/plane_hole_hrp2_interp.py | 57 +++++
.../siggraph_asia/plane_hole_hrp2_path.py | 109 +++++++++
.../siggraph_asia/spiderman/bezier_traj.py | 225 ++++++++++++++++++
.../demos/siggraph_asia/spiderman/log.txt | 26 ++
.../siggraph_asia/spiderman/plan_execute.py | 103 ++++++++
.../demos/siggraph_asia/spiderman/run.sh | 8 +
.../demos/siggraph_asia/spiderman/rund.sh | 6 +
.../spiderman/scale_hrp2_path.py | 117 +++++++++
.../spiderman/scale_spidey_interp.py | 106 +++++++++
.../spiderman/scale_spidey_path.py | 116 +++++++++
.../spiderman/spiderman_backJump_interp.py | 69 ++++++
.../spiderman/spiderman_backJump_path.py | 107 +++++++++
.../spiderman/spiderman_compute_DB.py | 121 ++++++++++
24 files changed, 1358 insertions(+), 17 deletions(-)
create mode 100644 data/meshes/siggraph_asia/grasp_spidey.stl
create mode 100644 data/meshes/siggraph_asia/plane_hole.stl
create mode 100644 data/meshes/siggraph_asia/scale_spidey.stl
create mode 100644 data/srdf/siggraph_asia/plane_hole.srdf
create mode 100644 data/srdf/siggraph_asia/scale_spidey.srdf
create mode 100644 data/urdf/siggraph_asia/plane_hole.urdf
create mode 100644 data/urdf/siggraph_asia/scale_spidey.urdf
create mode 100644 script/scenarios/demos/siggraph_asia/hrp2_model_no_arm.py
create mode 100644 script/scenarios/demos/siggraph_asia/plane_hole_hrp2_interp.py
create mode 100644 script/scenarios/demos/siggraph_asia/plane_hole_hrp2_path.py
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/log.txt
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/plan_execute.py
create mode 100755 script/scenarios/demos/siggraph_asia/spiderman/run.sh
create mode 100755 script/scenarios/demos/siggraph_asia/spiderman/rund.sh
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/scale_hrp2_path.py
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_interp.py
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_path.py
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_interp.py
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_path.py
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/spiderman_compute_DB.py
diff --git a/CMakeLists.txt b/CMakeLists.txt
index dede5ec..cca37dc 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -92,9 +92,18 @@ install(FILES
data/urdf/darpa.urdf
data/urdf/car.urdf
data/urdf/polaris.urdf
- data/urdf/siggraph_asia/down.urdf
- data/urdf/siggraph_asia/scale.urdf
- data/urdf/siggraph_asia/grasp.urdf
+ data/urdf/siggraph_asia/down.urdf
+ data/urdf/siggraph_asia/scale.urdf
+ data/urdf/siggraph_asia/scale_spidey.urdf
+ data/urdf/siggraph_asia/grasp.urdf
+ data/urdf/siggraph_asia/plane_hole.urdf
+ data/spiderman/urdf/SpidermanLFootSphere.urdf
+ data/spiderman/urdf/SpidermanLHandSphere.urdf
+ data/spiderman/urdf/SpidermanRFootSphere.urdf
+ data/spiderman/urdf/SpidermanRHandSphere.urdf
+ data/spiderman/urdf/spiderman_trunk.urdf
+ data/spiderman/urdf/spiderman.urdf
+
#~ data/urdf/scene2.urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
)
@@ -126,9 +135,18 @@ install(FILES
data/srdf/darpa.srdf
data/srdf/car.srdf
data/srdf/polaris.srdf
- data/srdf/siggraph_asia/down.srdf
- data/srdf/siggraph_asia/scale.srdf
- data/srdf/siggraph_asia/grasp.srdf
+ data/srdf/siggraph_asia/down.srdf
+ data/srdf/siggraph_asia/scale.srdf
+ data/srdf/siggraph_asia/scale_spidey.srdf
+ data/srdf/siggraph_asia/grasp.srdf
+ data/srdf/siggraph_asia/plane_hole.srdf
+ data/spiderman/srdf/SpidermanLFootSphere.srdf
+ data/spiderman/srdf/SpidermanLHandSphere.srdf
+ data/spiderman/srdf/SpidermanRFootSphere.srdf
+ data/spiderman/srdf/SpidermanRHandSphere.srdf
+ data/spiderman/srdf/spiderman.srdf
+ data/spiderman/srdf/spiderman_trunk.srdf
+
#~ data/srdf/scene2.srdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
)
@@ -168,9 +186,43 @@ install(FILES
data/meshes/polaris_reduced.stl
data/meshes/siggraph_asia/down.stl
data/meshes/siggraph_asia/scale.stl
+ data/meshes/siggraph_asia/scale_spidey.stl
data/meshes/siggraph_asia/grasp.stl
+ data/meshes/siggraph_asia/plane_hole.stl
+
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
)
+
+
+install(FILES
+ data/spiderman/meshes/spiderman-LFoot.stl
+ data/spiderman/meshes/spiderman-LFootToe.stl
+ data/spiderman/meshes/spiderman-LForearm.stl
+ data/spiderman/meshes/spiderman-LHand.stl
+ data/spiderman/meshes/spiderman-LHumerus.stl
+ data/spiderman/meshes/spiderman-LShank.stl
+ data/spiderman/meshes/spiderman-LThigh.stl
+ data/spiderman/meshes/spiderman-pelvis_box.stl
+ data/spiderman/meshes/spiderman-pelvis.stl
+ data/spiderman/meshes/spiderman-RFoot.stl
+ data/spiderman/meshes/spiderman-RFootToe.stl
+ data/spiderman/meshes/spiderman-RForearm.stl
+ data/spiderman/meshes/spiderman-RHand.stl
+ data/spiderman/meshes/spiderman-RHumerus.stl
+ data/spiderman/meshes/spiderman-RShank.stl
+ data/spiderman/meshes/spiderman-RThigh.stl
+ data/spiderman/meshes/spiderman-skull_box.stl
+ data/spiderman/meshes/spiderman-skull.stl
+ data/spiderman/meshes/spiderman-thorax_box.stl
+ data/spiderman/meshes/spiderman-thorax.stl
+ data/spiderman/meshes/lfoot_rom.stl
+ data/spiderman/meshes/lhand_rom.stl
+ data/spiderman/meshes/rfoot_rom.stl
+ data/spiderman/meshes/rhand_rom.stl
+
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/spiderman
+ )
+
install(FILES
data/meshes/hyq/hyq_all.stl
data/meshes/hyq/hyq_trunk.stl
diff --git a/data/meshes/siggraph_asia/grasp_spidey.stl b/data/meshes/siggraph_asia/grasp_spidey.stl
new file mode 100644
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diff --git a/data/srdf/siggraph_asia/plane_hole.srdf b/data/srdf/siggraph_asia/plane_hole.srdf
new file mode 100644
index 0000000..9362403
--- /dev/null
+++ b/data/srdf/siggraph_asia/plane_hole.srdf
@@ -0,0 +1,3 @@
+<?xml version="1.0"?>
+<robot name="plane_hole">
+</robot>
diff --git a/data/srdf/siggraph_asia/scale_spidey.srdf b/data/srdf/siggraph_asia/scale_spidey.srdf
new file mode 100644
index 0000000..44ec95b
--- /dev/null
+++ b/data/srdf/siggraph_asia/scale_spidey.srdf
@@ -0,0 +1,3 @@
+<?xml version="1.0"?>
+<robot name="scale_spidey">
+</robot>
diff --git a/data/urdf/siggraph_asia/plane_hole.urdf b/data/urdf/siggraph_asia/plane_hole.urdf
new file mode 100644
index 0000000..4860cd8
--- /dev/null
+++ b/data/urdf/siggraph_asia/plane_hole.urdf
@@ -0,0 +1,19 @@
+<robot name="plane_hole">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/plane_hole.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/plane_hole.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/data/urdf/siggraph_asia/scale_spidey.urdf b/data/urdf/siggraph_asia/scale_spidey.urdf
new file mode 100644
index 0000000..5eba430
--- /dev/null
+++ b/data/urdf/siggraph_asia/scale_spidey.urdf
@@ -0,0 +1,19 @@
+<robot name="scale_spidey">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/scale_spidey.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/scale_spidey.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/script/scenarios/demos/siggraph_asia/bezier_traj.py b/script/scenarios/demos/siggraph_asia/bezier_traj.py
index 16611ae..9247bcf 100644
--- a/script/scenarios/demos/siggraph_asia/bezier_traj.py
+++ b/script/scenarios/demos/siggraph_asia/bezier_traj.py
@@ -47,16 +47,16 @@ def play_all_paths_qs():
if i % 2 == 0 :
ppl(pid)
-def test(stateid = 1, path = False, use_rand = False, just_one_curve = False, num_optim = 0, effector = False) :
+def test(stateid = 1, path = False, use_rand = False, just_one_curve = False, num_optim = 0, effector = False, mu=0.5) :
com_1 = __get_com(fullBody, configs[stateid])
com_2 = __get_com(fullBody, configs[stateid+1])
createPtBox(viewer.client.gui, 0, com_1, 0.01, [0,1,1,1.])
createPtBox(viewer.client.gui, 0, com_2, 0.01, [0,1,1,1.])
- data = gen_sequence_data_from_state(fullBody,stateid,configs, mu = 0.5)
+ data = gen_sequence_data_from_state(fullBody,stateid,configs, mu = mu)
c_bounds_1 = get_com_constraint(fullBody, stateid, configs[stateid], limbsCOMConstraints, interm = False)
c_bounds_mid = get_com_constraint(fullBody, stateid, configs[stateid], limbsCOMConstraints, interm = True)
c_bounds_2 = get_com_constraint(fullBody, stateid, configs[stateid+1], limbsCOMConstraints, interm = False)
- success, c_mid_1, c_mid_2 = solve_quasi_static(data, c_bounds = [c_bounds_1, c_bounds_2, c_bounds_mid], use_rand = use_rand, mu = 0.5)
+ success, c_mid_1, c_mid_2 = solve_quasi_static(data, c_bounds = [c_bounds_1, c_bounds_2, c_bounds_mid], use_rand = use_rand, mu = mu)
#~ success, c_mid_1, c_mid_2 = solve_dyn(data, c_bounds = [c_bounds_1, c_bounds_2, c_bounds_mid], use_rand = use_rand)
#~ success, c_mid_1, c_mid_2 = solve_dyn(data, c_bounds = [c_bounds_1, c_bounds_2])
@@ -174,18 +174,18 @@ def test_ineq(stateid, constraints, n_samples = 10, color=[1,1,1,1.]):
#~ test_ineq(0, limbsCOMConstraints, 1000, [0,1,1,1])
-def gen(start = 0, len_con = 1, num_optim = 0, ine_curve =True, s = 1., effector = False):
+def gen(start = 0, len_con = 1, num_optim = 0, ine_curve =True, s = 1., effector = False, mu =0.5):
n_fail = 0;
for i in range (start, start+len_con):
viewer(configs[i])
- res = test(i, True, False, ine_curve,num_optim, effector)
+ res = test(i, True, False, ine_curve,num_optim, effector, mu)
if(not res[0]):
print "lp failed"
createPtBox(viewer.client.gui, 0, res[1][0], 0.01, [1,0,0,1.])
createPtBox(viewer.client.gui, 0, res[2][0], 0.01, [1,0,0,1.])
found = False
for j in range(10):
- res = test(i, True, True, ine_curve, num_optim, effector)
+ res = test(i, True, True, ine_curve, num_optim, effector, mu)
createPtBox(viewer.client.gui, 0, res[1][0], 0.01, [0,1,0,1.])
createPtBox(viewer.client.gui, 0, res[2][0], 0.01, [0,1,0,1.])
if res[0]:
diff --git a/script/scenarios/demos/siggraph_asia/hrp2_model_no_arm.py b/script/scenarios/demos/siggraph_asia/hrp2_model_no_arm.py
new file mode 100644
index 0000000..88c1178
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/hrp2_model_no_arm.py
@@ -0,0 +1,72 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+import time
+
+
+
+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)
+
+
+#~ AFTER loading obstacles
+
+rLegId = 'hrp2_rleg_rom'
+rLeg = 'RLEG_JOINT0'
+rLegOffset = [0,0,-0.105]
+rLegNormal = [0,0,1]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "manipulability", 0.1)
+
+lLegId = 'hrp2_lleg_rom'
+lLeg = 'LLEG_JOINT0'
+lLegx = 0.09; lLegy = 0.05
+lLegOffset = [0,0,-0.105]
+lLegNormal = [0,0,1]
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, "manipulability", 0.1)
+
+#~ AFTER loading obstacles
+larmId = 'hrp2_larm_rom'
+larm = 'LARM_JOINT0'
+lHand = 'LARM_JOINT5'
+lArmOffset = [0,0,-0.1075]
+lArmNormal = [0,0,1]
+lArmx = 0.024; lArmy = 0.024
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.1, "_6_DOF", False,grasp = True)
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.1, "_6_DOF")
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.1, "_6_DOF")
+
+
+rarmId = 'hrp2_rarm_rom'
+rarm = 'RARM_JOINT0'
+rHand = 'RARM_JOINT5'
+rArmOffset = [0,0,-0.1075]
+rArmNormal = [0,0,1]
+rArmx = 0.024; rArmy = 0.024
+#disabling collision for hook
+#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF", False,grasp = True)
+#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
+#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF")
+
+fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
+fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
+
+
+
+limbsCOMConstraints = { rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'},
+ lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'},
+ rarmId : {'file': "hrp2/RA_com.ineq", 'effector' : rHand},
+ larmId : {'file': "hrp2/LA_com.ineq", 'effector' : lHand} }
+
diff --git a/script/scenarios/demos/siggraph_asia/plan_execute.py b/script/scenarios/demos/siggraph_asia/plan_execute.py
index 024d03c..76457c2 100644
--- a/script/scenarios/demos/siggraph_asia/plan_execute.py
+++ b/script/scenarios/demos/siggraph_asia/plan_execute.py
@@ -44,18 +44,18 @@ def rootPath():
r.client.gui.setVisibility("hyq", "ON")
tp.cl.problem.selectProblem("default")
-def genPlan(stepsize=0.1):
+def genPlan(stepsize=0.1, rob = 2):
r.client.gui.setVisibility("hrp2_14", "ON")
tp.cl.problem.selectProblem("default")
tp.r.client.gui.setVisibility("toto", "OFF")
tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
global configs
start = time.clock()
- configs = fullBody.interpolate(stepsize, 1, 2, True)
+ configs = fullBody.interpolate(stepsize, 1, rob, True)
end = time.clock()
print "Contact plan generated in " + str(end-start) + "seconds"
-def contactPlan(step = 0.5):
+def contactPlan(step = 0.5, rob = 2):
r.client.gui.setVisibility("hyq", "ON")
tp.cl.problem.selectProblem("default")
tp.r.client.gui.setVisibility("toto", "OFF")
@@ -82,9 +82,12 @@ def d(step=0.1):
genPlan(step)
return configs
-def e(step = 0.5):
+def e(step = 0.5, rob = 2, qs=None):
+ if(qs != None):
+ global configs
+ configs = qs[:]
print "displaying contact plan"
- contactPlan(step)
+ contactPlan(step, rob)
r = None
tp = None
diff --git a/script/scenarios/demos/siggraph_asia/plane_hole_hrp2_interp.py b/script/scenarios/demos/siggraph_asia/plane_hole_hrp2_interp.py
new file mode 100644
index 0000000..f18f7dd
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/plane_hole_hrp2_interp.py
@@ -0,0 +1,57 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+from hpp.gepetto import PathPlayer
+
+import plane_hole_hrp2_path as path_planner
+#~ import hrp2_model as model
+import hrp2_model_no_arm as model
+from hrp2_model import *
+import time
+
+
+ps = path_planner.ProblemSolver( model.fullBody )
+r = path_planner.Viewer (ps, viewerClient=path_planner.r.client)
+fullBody = model.fullBody
+fullBody.setJointBounds ("base_joint_xyz", [-0.135,5, -1, 1, 0, 2.2])
+pp = PathPlayer (fullBody.client.basic, r)
+
+from plan_execute import a, b, c, d, e, init_plan_execute
+init_plan_execute(model.fullBody, r, path_planner, pp)
+
+q_0 = model.fullBody.getCurrentConfig();
+#~ fullBody.createOctreeBoxes(r.client.gui, 1, rarmId, q_0,)
+q_goal = model.fullBody.getCurrentConfig(); q_goal[0:7] = path_planner.q_goal[0:7]
+
+
+q_init = [
+ 0, 0, 0.58, 1.0, 0.0 , 0.0, 0.0, # Free flyer 0-6
+ 0.0, 0.0, 0.0, 0.0, # CHEST HEAD 7-10
+ 0.261799388, 0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, # LARM 11-17
+ 0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, # RARM 18-24
+ 0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0, # LLEG 25-30
+ 0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0, # RLEG 31-36
+ ]; r (q_init)
+
+q_init[0:7] = path_planner.q_init[0:7]
+
+model.fullBody.setCurrentConfig (q_goal)
+#~ r(q_goal)
+q_goal = model.fullBody.generateContacts(q_goal, [0,0,1])
+q_init = model.fullBody.generateContacts(q_init, [0,0,1])
+#~ r(q_goal)
+
+#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId]) #,rarmId,larmId])
+model.fullBody.setStartState(q_init,[model.lLegId,rLegId]) #,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
+
+configs = d(0.005); e(0.01)
+
+from bezier_traj import *
+init_bezier_traj(model.fullBody, r, pp, configs, model.limbsCOMConstraints)
+#~ AFTER loading obstacles
+
+
+#~ test_ineq(0,{ rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'}}, 1000, [1,0,0,1])
+#~ test_ineq(0,{ lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'}}, 1000, [0,0,1,1])
+#~ gen(0,1)
diff --git a/script/scenarios/demos/siggraph_asia/plane_hole_hrp2_path.py b/script/scenarios/demos/siggraph_asia/plane_hole_hrp2_path.py
new file mode 100644
index 0000000..bff1ce0
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/plane_hole_hrp2_path.py
@@ -0,0 +1,109 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+from hpp.corbaserver import Client
+from hpp.corbaserver.robot import Robot as Parent
+
+class Robot (Parent):
+ rootJointType = 'freeflyer'
+ packageName = 'hpp-rbprm-corba'
+ meshPackageName = 'hpp-rbprm-corba'
+ # URDF file describing the trunk of the robot HyQ
+ urdfName = 'hrp2_trunk_flexible'
+ urdfSuffix = ""
+ srdfSuffix = ""
+ def __init__ (self, robotName, load = True):
+ Parent.__init__ (self, robotName, self.rootJointType, load)
+ self.tf_root = "base_footprint"
+ self.client.basic = Client ()
+ self.load = load
+
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk_flexible'
+urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,5, -1, 1, 0, 2.2])
+#~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support'])
+#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
+#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
+#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
+#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
+rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [0:3] = [0, 0, 0.58]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+q_init [0:3] = [0.1, 0, 0.58]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+
+q_goal = q_init [::]
+#~ q_goal [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+q_goal [0:3] = [5, 0, 0.58]; r (q_goal)
+#~ q_goal [0:3] = [1.2, -0.65, 1.1]; r (q_goal)
+
+#~ ps.addPathOptimizer("GradientBased")
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel (packageName, "plane_hole", "planning", r)
+#~ afftool.analyseAll()
+afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+afftool.visualiseAffordances('Lean', r, [0, 0, 0.9])
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+#~ ps.solve ()
+t = ps.solve ()
+
+print t;
+if isinstance(t, list):
+ t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~
+#~ pp (2)
+#~ pp (0)
+
+#~ pp (1)
+#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~ rbprmBuilder.exportPath (r, ps.client.problem, 1, 0.01, "stair_bauzil_hrp2_path.txt")
+
+cl = Client()
+cl.problem.selectProblem("rbprm_path")
+rbprmBuilder2 = Robot ("toto")
+ps2 = ProblemSolver( rbprmBuilder2 )
+cl.problem.selectProblem("default")
+cl.problem.movePathToProblem(1,"rbprm_path",rbprmBuilder.getAllJointNames())
+r2 = Viewer (ps2, viewerClient=r.client)
+r.client.gui.setVisibility("toto", "OFF")
+r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+#~ r2(q_far)
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py b/script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py
new file mode 100644
index 0000000..16611ae
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py
@@ -0,0 +1,225 @@
+from gen_data_from_rbprm import *
+
+from hpp.corbaserver.rbprm.tools.com_constraints import get_com_constraint
+from hpp.gepetto import PathPlayer
+
+#computing com bounds 0 and 1
+def __get_com(robot, config):
+ save = robot.getCurrentConfig()
+ robot.setCurrentConfig(config)
+ com = robot.getCenterOfMass()
+ robot.setCurrentConfig(save)
+ return com
+
+from numpy import matrix, asarray
+from numpy.linalg import norm
+from spline import bezier
+
+
+def __curveToWps(curve):
+ return asarray(curve.waypoints().transpose()).tolist()
+
+
+def __Bezier(wps, init_acc = [0.,0.,0.], end_acc = [0.,0.,0.], init_vel = [0.,0.,0.], end_vel = [0.,0.,0.]):
+ c = curve_constraints();
+ c.init_vel = matrix(init_vel);
+ c.end_vel = matrix(end_vel);
+ c.init_acc = matrix(init_acc);
+ c.end_acc = matrix(end_acc);
+ matrix_bezier = matrix(wps).transpose()
+ curve = bezier(matrix_bezier, c)
+ return __curveToWps(curve), curve
+ #~ return __curveToWps(bezier(matrix_bezier))
+
+allpaths = []
+
+def play_all_paths():
+ for _, pid in enumerate(allpaths):
+ ppl(pid)
+
+def play_all_paths_smooth():
+ for i, pid in enumerate(allpaths):
+ if i % 2 == 1 :
+ ppl(pid)
+
+def play_all_paths_qs():
+ for i, pid in enumerate(allpaths):
+ if i % 2 == 0 :
+ ppl(pid)
+
+def test(stateid = 1, path = False, use_rand = False, just_one_curve = False, num_optim = 0, effector = False) :
+ com_1 = __get_com(fullBody, configs[stateid])
+ com_2 = __get_com(fullBody, configs[stateid+1])
+ createPtBox(viewer.client.gui, 0, com_1, 0.01, [0,1,1,1.])
+ createPtBox(viewer.client.gui, 0, com_2, 0.01, [0,1,1,1.])
+ data = gen_sequence_data_from_state(fullBody,stateid,configs, mu = 0.5)
+ c_bounds_1 = get_com_constraint(fullBody, stateid, configs[stateid], limbsCOMConstraints, interm = False)
+ c_bounds_mid = get_com_constraint(fullBody, stateid, configs[stateid], limbsCOMConstraints, interm = True)
+ c_bounds_2 = get_com_constraint(fullBody, stateid, configs[stateid+1], limbsCOMConstraints, interm = False)
+ success, c_mid_1, c_mid_2 = solve_quasi_static(data, c_bounds = [c_bounds_1, c_bounds_2, c_bounds_mid], use_rand = use_rand, mu = 0.5)
+ #~ success, c_mid_1, c_mid_2 = solve_dyn(data, c_bounds = [c_bounds_1, c_bounds_2, c_bounds_mid], use_rand = use_rand)
+ #~ success, c_mid_1, c_mid_2 = solve_dyn(data, c_bounds = [c_bounds_1, c_bounds_2])
+
+ print "$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ calling effector", effector
+ paths_ids = []
+ if path and success:
+ #~ fullBody.straightPath([c_mid_1[0].tolist(),c_mid_2[0].tolist()])
+ #~ fullBody.straightPath([c_mid_2[0].tolist(),com_2])
+ if just_one_curve:
+ print "just one curve"
+ bezier_0, curve = __Bezier([com_1,c_mid_1[0].tolist(),c_mid_2[0].tolist(),com_2])
+ createPtBox(viewer.client.gui, 0, c_mid_1[0].tolist(), 0.01, [0,1,0,1.])
+ createPtBox(viewer.client.gui, 0, c_mid_2[0].tolist(), 0.01, [0,1,0,1.])
+
+ partions = [0.,0.2,0.8,1.]
+ p0 = fullBody.generateCurveTrajParts(bezier_0,partions)
+ #testing intermediary configurations
+ print 'wtf', partions[1], " "
+ com_interm1 = curve(partions[1])
+ com_interm2 = curve(partions[2])
+ print "com_1", com_1
+ success_proj1 = project_com_colfree(fullBody, stateid , asarray((com_interm1).transpose()).tolist()[0])
+ success_proj2 = project_com_colfree(fullBody, stateid+1, asarray((com_interm2).transpose()).tolist()[0])
+
+ if not success_proj1:
+ print "proj 1 failed"
+ return False, c_mid_1, c_mid_2, paths_ids
+
+ if not success_proj2:
+ print "proj 2 failed"
+ return False, c_mid_1, c_mid_2, paths_ids
+
+ print "p0", p0
+ #~ pp.displayPath(p0+1)
+ #~ pp.displayPath(p0+2)
+ ppl.displayPath(p0)
+ #~ pp.displayPath(p0+1)
+ #~ pp.displayPath(p0+2)
+ #~ pp.displayPath(p0+3)
+ if(effector):
+ print "$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ calling effector"
+ paths_ids = [int(el) for el in fullBody.effectorRRT(stateid,p0+1,p0+2,p0+3,num_optim)]
+ else:
+ paths_ids = [int(el) for el in fullBody.comRRTFromPos(stateid,p0+1,p0+2,p0+3,num_optim)]
+
+ else:
+
+ success_proj1 = project_com_colfree(fullBody, stateid , c_mid_1[0].tolist())
+ success_proj2 = project_com_colfree(fullBody, stateid+1, c_mid_2[0].tolist())
+
+ if not success_proj1:
+ print "proj 1 failed"
+ return False, c_mid_1, c_mid_2, paths_ids
+
+ if not success_proj2:
+ print "proj 2 failed"
+ return False, c_mid_1, c_mid_2, paths_ids
+
+ print "three curves"
+ bezier_0, curve = __Bezier([com_1,c_mid_1[0].tolist()] , end_acc = c_mid_1[1].tolist() , end_vel = [0.,0.,0.])
+ bezier_1, curve = __Bezier([c_mid_1[0].tolist(),c_mid_2[0].tolist()], end_acc = c_mid_2[1].tolist(), init_acc = c_mid_1[1].tolist(), init_vel = [0.,0.,0.], end_vel = [0.,0.,0.])
+ bezier_2, curve = __Bezier([c_mid_2[0].tolist(),com_2] , init_acc = c_mid_2[1].tolist(), init_vel = [0.,0.,0.])
+
+ p0 = fullBody.generateCurveTraj(bezier_0)
+ print "p0", p0
+ fullBody.generateCurveTraj(bezier_1)
+ fullBody.generateCurveTraj(bezier_2)
+ ppl.displayPath(p0)
+ ppl.displayPath(p0+1)
+ ppl.displayPath(p0+2)
+ paths_ids = [int(el) for el in fullBody.comRRTFromPos(stateid,p0,p0+1,p0+2,num_optim)]
+ #~ paths_ids = []
+ global allpaths
+ allpaths += paths_ids[:-1]
+ #~ allpaths += [paths_ids[-1]]
+ #~ pp(paths_ids[-1])
+
+ #~ return success, paths_ids, c_mid_1, c_mid_2
+ return success, c_mid_1, c_mid_2, paths_ids
+#~ data = gen_sequence_data_from_state(fullBody,3,configs)
+
+#~ pp(29),pp(9),pp(17)
+from hpp.corbaserver.rbprm.tools.path_to_trajectory import *
+
+
+def createPtBox(gui, winId, config, res = 0.01, color = [1,1,1,0.3]):
+ resolution = res
+ global scene
+ global b_id
+ boxname = scene+"/"+str(b_id)
+ b_id += 1
+ gui.addBox(boxname,resolution,resolution,resolution, color)
+ gui.applyConfiguration(boxname,[config[0],config[1],config[2],1,0,0,0])
+ gui.addSceneToWindow(scene,winId)
+ gui.refresh()
+
+def test_ineq(stateid, constraints, n_samples = 10, color=[1,1,1,1.]):
+ Kin = get_com_constraint(fullBody, stateid, configs[stateid], constraints, interm = False)
+ #~ print "kin ", Kin
+ #create box around current com
+ fullBody.setCurrentConfig(configs[stateid])
+ com = fullBody.getCenterOfMass()
+ bounds_c = flatten([[com[i]-1., com[i]+1.] for i in range(3)]) # arbitrary
+ for i in range(n_samples):
+ c = array([uniform(bounds_c[2*i], bounds_c[2*i+1]) for i in range(3)])
+ print "c: ", c
+ if(Kin[0].dot(c)<=Kin[1]).all():
+ print "boundaries satisfied"
+ createPtBox(viewer.client.gui, 0, c, 0.01, color)
+
+#~ test_ineq(0,{ rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'}}, 1000, [1,0,0,1])
+#~ test_ineq(0,{ lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'}}, 1000, [0,1,0,1])
+#~ test_ineq(0,{ rLegId : {'file': "hrp2/RA_com.ineq", 'effector' : rHand}}, 1000, [0,0,1,1])
+#~ test_ineq(0,{ rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'}}, 1000, [0,1,1,1])
+#~ test_ineq(0, limbsCOMConstraints, 1000, [0,1,1,1])
+
+
+def gen(start = 0, len_con = 1, num_optim = 0, ine_curve =True, s = 1., effector = False):
+ n_fail = 0;
+ for i in range (start, start+len_con):
+ viewer(configs[i])
+ res = test(i, True, False, ine_curve,num_optim, effector)
+ if(not res[0]):
+ print "lp failed"
+ createPtBox(viewer.client.gui, 0, res[1][0], 0.01, [1,0,0,1.])
+ createPtBox(viewer.client.gui, 0, res[2][0], 0.01, [1,0,0,1.])
+ found = False
+ for j in range(10):
+ res = test(i, True, True, ine_curve, num_optim, effector)
+ createPtBox(viewer.client.gui, 0, res[1][0], 0.01, [0,1,0,1.])
+ createPtBox(viewer.client.gui, 0, res[2][0], 0.01, [0,1,0,1.])
+ if res[0]:
+ break
+ if not res[0]:
+ n_fail += 1
+ print "n_fail ", n_fail
+
+ a = gen_trajectory_to_play(fullBody, ppl, allpaths, flatten([[s*0.2, s* 0.6, s* 0.2] for _ in range(len(allpaths) / 3)]))
+ return a
+
+viewer = None
+tp = None
+ppl = None
+fullBody = None
+b_id = 0
+scene = "bos"
+
+def clean_path():
+ global allpaths
+ allpaths = []
+
+
+def init_bezier_traj(robot, r, pplayer, qs, comConstraints):
+ global viewer
+ global tp
+ global ppl
+ global fullBody
+ global viewer
+ global configs
+ configs = qs
+ viewer = r
+ ppl = pplayer
+ fullBody = robot
+ viewer.client.gui.createScene(scene)
+ global limbsCOMConstraints
+ limbsCOMConstraints = comConstraints
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/log.txt b/script/scenarios/demos/siggraph_asia/spiderman/log.txt
new file mode 100644
index 0000000..2b3f045
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/log.txt
@@ -0,0 +1,26 @@
+path computation 7
+path computation 5
+path computation 8
+path computation 2
+path computation 5
+path computation 2
+path computation 2
+path computation 4
+path computation 2
+path computation 1
+path computation 1
+path computation 2
+path computation 1
+path computation 1
+path computation 2
+path computation 2
+path computation 1
+path computation 2
+path computation 2
+path computation 1
+path computation 3
+path computation 1
+path computation 4
+path computation 1
+path computation 1
+path computation 1
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/plan_execute.py b/script/scenarios/demos/siggraph_asia/spiderman/plan_execute.py
new file mode 100644
index 0000000..024d03c
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/plan_execute.py
@@ -0,0 +1,103 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+import time
+
+from hpp.corbaserver.rbprm.tools.cwc_trajectory_helper import step, clean,stats, saveAllData, play_traj
+from hpp.gepetto import PathPlayer
+
+def act(i, numOptim = 0, use_window = 0, friction = 0.5, optim_effectors = True, verbose = False, draw = False):
+ return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, 0.4, optim_effectors = optim_effectors, time_scale = 20., useCOMConstraints = True, use_window = use_window,
+ verbose = verbose, draw = draw)
+
+def play(frame_rate = 1./24.):
+ play_traj(fullBody,pp,frame_rate)
+
+def saveAll(name):
+ saveAllData(fullBody, r, name)
+
+
+def initConfig():
+ r.client.gui.setVisibility("hrp2_14", "ON")
+ tp.cl.problem.selectProblem("default")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+ r(q_init)
+
+def endConfig():
+ r.client.gui.setVisibility("hrp2_14", "ON")
+ tp.cl.problem.selectProblem("default")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+ r(q_goal)
+
+
+def rootPath():
+ tp.cl.problem.selectProblem("rbprm_path")
+ r.client.gui.setVisibility("hrp2_14", "OFF")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ r.client.gui.setVisibility("hyq", "OFF")
+ r.client.gui.setVisibility("hrp2_trunk_flexible", "ON")
+ tp.pp(0)
+ r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+ r.client.gui.setVisibility("hyq", "ON")
+ tp.cl.problem.selectProblem("default")
+
+def genPlan(stepsize=0.1):
+ r.client.gui.setVisibility("hrp2_14", "ON")
+ tp.cl.problem.selectProblem("default")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+ global configs
+ start = time.clock()
+ configs = fullBody.interpolate(stepsize, 1, 2, True)
+ end = time.clock()
+ print "Contact plan generated in " + str(end-start) + "seconds"
+
+def contactPlan(step = 0.5):
+ r.client.gui.setVisibility("hyq", "ON")
+ tp.cl.problem.selectProblem("default")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
+ for i in range(0,len(configs)):
+ r(configs[i]);
+ time.sleep(step)
+
+
+def a():
+ print "initial configuration"
+ initConfig()
+
+def b():
+ print "end configuration"
+ endConfig()
+
+def c():
+ print "displaying root path"
+ rootPath()
+
+def d(step=0.1):
+ print "computing contact plan"
+ genPlan(step)
+ return configs
+
+def e(step = 0.5):
+ print "displaying contact plan"
+ contactPlan(step)
+
+r = None
+tp = None
+pp = None
+fullBody = None
+
+def init_plan_execute(robot, viewer, pathplanner, pplayer):
+ global r
+ global tp
+ global pp
+ global fullBody
+ r = viewer
+ tp = pathplanner
+ pp = pplayer
+ fullBody = robot
+
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/run.sh b/script/scenarios/demos/siggraph_asia/spiderman/run.sh
new file mode 100755
index 0000000..c249455
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/run.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+gepetto-viewer-server &
+hpp-rbprm-server &
+ipython -i --no-confirm-exit ./$1
+
+pkill -f 'gepetto-viewer-server'
+pkill -f 'hpp-rbprm-server'
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/rund.sh b/script/scenarios/demos/siggraph_asia/spiderman/rund.sh
new file mode 100755
index 0000000..eab7645
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/rund.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+gepetto-viewer-server &
+ipython -i --no-confirm-exit ./$1
+
+pkill -f 'gepetto-viewer-server'
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/scale_hrp2_path.py b/script/scenarios/demos/siggraph_asia/spiderman/scale_hrp2_path.py
new file mode 100644
index 0000000..271ddc4
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/scale_hrp2_path.py
@@ -0,0 +1,117 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+from hpp.corbaserver import Client
+from hpp.corbaserver.robot import Robot as Parent
+
+class Robot (Parent):
+ rootJointType = 'freeflyer'
+ packageName = 'hpp-rbprm-corba'
+ meshPackageName = 'hpp-rbprm-corba'
+ # URDF file describing the trunk of the robot HyQ
+ urdfName = 'hrp2_trunk_flexible'
+ urdfSuffix = ""
+ srdfSuffix = ""
+ def __init__ (self, robotName, load = True):
+ Parent.__init__ (self, robotName, self.rootJointType, load)
+ self.tf_root = "base_footprint"
+ self.client.basic = Client ()
+ self.load = load
+
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk_flexible'
+urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+base_joint_xyz_limits = [-1,3, -1, 1, 0, 6]
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz",base_joint_xyz_limits)
+#~ rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
+#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+#~ rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
+#~ rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support'])
+#~ rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Lean'])
+#~ rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
+#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
+#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
+#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
+rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+q_init [0:3] = [-0.05, -0.82, 0.50]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0.1, -0.82, 0.648702]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+
+q_goal = q_init [::]
+q_goal [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+q_goal [0:3] = [0.6 , -0.82, 1.5]; r (q_goal)
+#~ q_goal [0:3] = [3, -0.82, 6]; r(q_goal)
+#~ q_goal [0:3] = [1.2, -0.65, 1.1]; r (q_goal)
+
+#~ ps.addPathOptimizer("GradientBased")
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.setAffordanceConfig('Lean', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel (packageName, "scale", "planning", r)
+#~ afftool.analyseAll()
+afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+afftool.visualiseAffordances('Lean', r, [0, 0, 0.9])
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+#~ ps.solve ()
+t = ps.solve ()
+
+print t;
+if isinstance(t, list):
+ t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~
+#~ pp (2)
+#~ pp (0)
+
+#~ pp (1)
+#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~ rbprmBuilder.exportPath (r, ps.client.problem, 1, 0.01, "stair_bauzil_hrp2_path.txt")
+
+cl = Client()
+cl.problem.selectProblem("rbprm_path")
+rbprmBuilder2 = Robot ("toto")
+ps2 = ProblemSolver( rbprmBuilder2 )
+cl.problem.selectProblem("default")
+cl.problem.movePathToProblem(1,"rbprm_path",rbprmBuilder.getAllJointNames())
+r2 = Viewer (ps2, viewerClient=r.client)
+r.client.gui.setVisibility("toto", "OFF")
+#~ r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+#~ r2(q_far)
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_interp.py b/script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_interp.py
new file mode 100644
index 0000000..9b94d19
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_interp.py
@@ -0,0 +1,106 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+from hpp.gepetto import PathPlayer
+
+import scale_spidey_path as path_planner
+#~ import hrp2_model as model
+import time
+tp = path_planner
+
+
+
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "spiderman"
+urdfSuffix = ""
+srdfSuffix = ""
+#~ V0list = tp.V0list
+#~ Vimplist = tp.Vimplist
+base_joint_xyz_limits = tp.base_joint_xyz_limits
+
+fullBody = FullBody ()
+robot = fullBody.client.basic.robot
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", base_joint_xyz_limits)
+
+#psf = ProblemSolver(fullBody); rr = Viewer (psf); gui = rr.client.gui
+ps = path_planner.ProblemSolver( fullBody )
+r = path_planner.Viewer (ps, viewerClient=path_planner.r.client)
+rr = r
+#~ psf = tp.ProblemSolver( fullBody ); rr = tp.Viewer (psf); gui = rr.client.gui
+pp = PathPlayer (fullBody.client.basic, rr); pp.speed = 0.6
+q_0 = fullBody.getCurrentConfig(); rr(q_0)
+
+
+rLegId = 'RFoot'
+lLegId = 'LFoot'
+rarmId = 'RHand'
+larmId = 'LHand'
+rfoot = 'SpidermanRFootSphere'
+lfoot = 'SpidermanLFootSphere'
+lHand = 'SpidermanLHandSphere'
+rHand = 'SpidermanRHandSphere'
+nbSamples = 50000; x = 0.03; y = 0.08
+fullBody.addLimb(rLegId,'RThigh_rx','SpidermanRFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(lLegId,'LThigh_rx','SpidermanLFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(rarmId,'RHumerus_rx','SpidermanRHandSphere',[0,0,0],[0,-1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(larmId,'LHumerus_rx','SpidermanLHandSphere',[0,0,0],[0,1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+
+fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
+fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
+
+
+
+limbsCOMConstraints = { rLegId : {'file': "spiderman/RL_com.ineq", 'effector' : rfoot},
+ lLegId : {'file': "spiderman/LL_com.ineq", 'effector' : rHand},
+ rarmId : {'file': "spiderman/RA_com.ineq", 'effector' : rHand},
+ larmId : {'file': "spiderman/LA_com.ineq", 'effector' : lHand} }
+
+
+ps = path_planner.ProblemSolver( fullBody )
+r = path_planner.Viewer (ps, viewerClient=path_planner.r.client)
+#~ fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 2.2])
+fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 6])
+pp = PathPlayer (fullBody.client.basic, r)
+
+from plan_execute import a, b, c, d, e, init_plan_execute
+init_plan_execute(fullBody, r, path_planner, pp)
+
+q_0 = fullBody.getCurrentConfig();
+q_init = fullBody.getCurrentConfig(); q_init[0:7] = path_planner.q_init[0:7]
+q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = path_planner.q_goal[0:7]
+
+
+#~ fullBody.setCurrentConfig (q_init)
+#~ q_init = [
+ #~ -0.05, -0.82, 0.55, 1.0, 0.0 , 0.0, 0.0, # Free flyer 0-6
+ #~ 0.0, 0.0, 0.0, 0.0, # CHEST HEAD 7-10
+ #~ 0.261799388, 0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, # LARM 11-17
+ #~ 0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, # RARM 18-24
+ #~ 0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0, # LLEG 25-30
+ #~ 0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0, # RLEG 31-36
+ #~ ]; r (q_init)
+
+fullBody.setCurrentConfig (q_goal)
+q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+q_init = fullBody.generateContacts(q_init, [0,0,1])
+
+#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId]) #,rarmId,larmId])
+#~ fullBody.setStartState(q_init,[rLegId,lLegId,larmId, rarmId]) #,rarmId,larmId])
+fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
+
+configs = d(0.005); e()
+
+from bezier_traj import *
+init_bezier_traj(fullBody, r, pp, configs, limbsCOMConstraints)
+#~ AFTER loading obstacles
+
+
+#~ test_ineq(0,{ rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'}}, 1000, [1,0,0,1])
+#~ test_ineq(0,{ lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'}}, 1000, [0,0,1,1])
+#~ gen(0,1)
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_path.py b/script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_path.py
new file mode 100644
index 0000000..814fffe
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/scale_spidey_path.py
@@ -0,0 +1,116 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+from hpp.corbaserver import Client
+from hpp.corbaserver.robot import Robot as Parent
+
+class Robot (Parent):
+ rootJointType = 'freeflyer'
+ packageName = 'hpp-rbprm-corba'
+ meshPackageName = 'hpp-rbprm-corba'
+ # URDF file describing the trunk of the robot HyQ
+ urdfName = 'hrp2_trunk_flexible'
+ urdfSuffix = ""
+ srdfSuffix = ""
+ def __init__ (self, robotName, load = True):
+ Parent.__init__ (self, robotName, self.rootJointType, load)
+ self.tf_root = "base_footprint"
+ self.client.basic = Client ()
+ self.load = load
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'spiderman_trunk'
+urdfNameRoms = ['SpidermanLFootSphere','SpidermanRFootSphere','SpidermanLHandSphere','SpidermanRHandSphere']
+urdfSuffix = ""
+srdfSuffix = ""
+ecsSize = 4
+base_joint_xyz_limits = [-10, 10, -10, 15, 0, 10]
+
+rbprmBuilder = Builder () # RBPRM
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 6])
+rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
+rbprmBuilder.setFilter(urdfNameRoms)
+affordanceType = ['Support']
+affordanceTypeHand = ['Support','Lean']
+rbprmBuilder.setAffordanceFilter('SpidermanLFootSphere', affordanceType)
+rbprmBuilder.setAffordanceFilter('SpidermanRFootSphere', affordanceType)
+rbprmBuilder.setAffordanceFilter('SpidermanLHandSphere', affordanceType)
+rbprmBuilder.setAffordanceFilter('SpidermanRHandSphere', affordanceType)
+#~ rbprmBuilder.setContactSize (0.03,0.08)
+#~ rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(ecsSize)
+#~ rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,-3.14,3.14])
+#~
+#~ rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+q_init [0:3] = [0.19999999999999996, -0.82, 1.0];
+rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0.1, -0.82, 0.648702]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+
+q_goal = q_init [::]
+q_goal [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+q_goal [0:3] = [0.6 , -0.82, 1.5]; r (q_goal)
+#~ q_goal [0:3] = [3, -0.82, 6]; r(q_goal)
+#~ q_goal [0:3] = [1.2, -0.65, 1.1]; r (q_goal)
+
+#~ ps.addPathOptimizer("GradientBased")
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.setAffordanceConfig('Lean', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel (packageName, "scale_spidey", "planning", r)
+#~ afftool.analyseAll()
+afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+afftool.visualiseAffordances('Lean', r, [0, 0, 0.9])
+
+#~ ps.client.problem.selectConFigurationShooter("RbprmShooter")
+#~ ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+#~ ps.solve ()
+t = ps.solve ()
+
+print t;
+if isinstance(t, list):
+ t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~
+#~ pp (2)
+#~ pp (0)
+
+#~ pp (1)
+#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~ rbprmBuilder.exportPath (r, ps.client.problem, 1, 0.01, "stair_bauzil_hrp2_path.txt")
+
+cl = Client()
+cl.problem.selectProblem("rbprm_path")
+rbprmBuilder2 = Robot ("toto")
+ps2 = ProblemSolver( rbprmBuilder2 )
+cl.problem.selectProblem("default")
+cl.problem.movePathToProblem(1,"rbprm_path",rbprmBuilder.getAllJointNames())
+r2 = Viewer (ps2, viewerClient=r.client)
+r.client.gui.setVisibility("toto", "OFF")
+r.client.gui.setVisibility("spiderman_trunk", "OFF")
+#~ r2(q_far)
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_interp.py b/script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_interp.py
new file mode 100644
index 0000000..986ef45
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_interp.py
@@ -0,0 +1,69 @@
+#/usr/bin/env python
+# author: Mylene Campana (mcampana@laas.fr)
+# Script which goes with hpp-rbprm-corba package.
+
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+from hpp.gepetto import Viewer, PathPlayer
+import numpy as np
+from viewer_library import *
+
+import spiderman_backJump_path as tp
+
+
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "spiderman"
+urdfSuffix = ""
+srdfSuffix = ""
+V0list = tp.V0list
+Vimplist = tp.Vimplist
+base_joint_xyz_limits = tp.base_joint_xyz_limits
+
+fullBody = FullBody ()
+robot = fullBody.client.basic.robot
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", base_joint_xyz_limits)
+
+#psf = ProblemSolver(fullBody); rr = Viewer (psf); gui = rr.client.gui
+r = tp.r; ps = tp.ps
+psf = tp.ProblemSolver( fullBody ); rr = tp.Viewer (psf); gui = rr.client.gui
+pp = PathPlayer (fullBody.client.basic, rr); pp.speed = 0.6
+q_0 = fullBody.getCurrentConfig(); rr(q_0)
+
+
+flexion = [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0, 0.2, 0, -0.0, -0.3, 0, 0.2, 0.9, 0, -0.6, 0, 0, 0, -0.2, 0.9, 0, -0.6, 0, 0, 0, -1.1, -1.8, -1, 2.2, -0.9, 0, 0.0, 1.1, -1.8, 1, 2.2, -0.9, 0, 0.0]
+q_contact_takeoff = [0, 0, 0, 1, 0, 0, 0, 0, 0.0, 0, -0.0, 0.0, 0.0, 2.2, 0.1, 0.3, -1.5, 0.8, 0, 0, -2.2, 0.1, -0.3, -1.5, -0.8, 0, 0, 0.3, -1.1, 0.2, 2, -0.8, 0, 0.0, -0.3, -1.1, -0.2, 2, -0.8, 0, 0.0]
+extending = [0, 0, 0, 1, 0, 0, 0, -0.0, 0.8, 0, -0.0, -0.6, 0, 1.5, 0.5, 1, 0, 0, 0, 0, -1.5, 0.5, -1, 0, 0, 0, 0, 1.4, -1.2, 1.6, 2.1, 0.4, 0, 0.0, -1.4, -1.2, -1.6, 2.1, 0.4, 0.0, 0.0]
+
+fullBody.setPose (extending, "extending")
+fullBody.setPose (flexion, "flexion")
+fullBody.setPose (q_contact_takeoff, "takeoffContact")
+
+rLegId = 'RFoot'
+lLegId = 'LFoot'
+rarmId = 'RHand'
+larmId = 'LHand'
+nbSamples = 50000; x = 0.03; y = 0.08
+fullBody.addLimb(rLegId,'RThigh_rx','SpidermanRFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(lLegId,'LThigh_rx','SpidermanLFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(rarmId,'RHumerus_rx','SpidermanRHandSphere',[0,0,0],[0,-1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(larmId,'LHumerus_rx','SpidermanLHandSphere',[0,0,0],[0,1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+print("Limbs added to fullbody")
+
+
+confsize = len(tp.q11)
+
+### TEST OF CONTACT CREATION FOR INTERMEDIATE CONFIG, NOT USED FOR INTERPOLATION
+q_tmp = q_contact_takeoff [::]; q_tmp[0:confsize-tp.ecsSize] = tp.q_cube[0:confsize-tp.ecsSize]; rr(q_tmp)
+fullBody.setCurrentConfig (q_tmp)
+q_tmp_test = fullBody.generateContacts(q_tmp, [0,-1,0], True); rr (q_tmp_test)
+fullBody.isConfigValid(q_tmp_test)
+
+# result:
+# q_tmp_test = [-1.2, -2.8, 3.6, 0.707107, 0.0, 0.0, 0.707107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9324800803082636, -0.9184709614284768, 0.6886200849241174, -0.6066622060535428, 0.47649495495305294, 1.0976823065116303, -0.538404483799899, -1.0681738092891575, -1.1021076588270258, 1.1498838725595328, -0.6156809000975677, 0.5815958533218022, -1.4659758542959642, -0.3603605133380307, 0.36116581520970376, -1.048638878548546, 0.24059108997189355, 1.23953255675232, -0.7519812787252685, -0.1402404928640359, -1.0, 0.023118656707620415, -0.6298340889273957, -0.15800407650545129, 0.4963824557225752, -0.4989080182494368, 0.2774303858753873, -0.9974339561414656]
+
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_path.py b/script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_path.py
new file mode 100644
index 0000000..d135480
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/spiderman_backJump_path.py
@@ -0,0 +1,107 @@
+#/usr/bin/env python
+# author: Mylene Campana (mcampana@laas.fr)
+# Script which goes with hpp-rbprm-corba package.
+# The script launches a skeleton-robot and a groundcrouch environment.
+# It defines init and final configs, and solve them with RBPRM.
+# Range Of Motions are spheres linked to the 4 end-effectors
+
+from hpp.corbaserver import Client
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer, PathPlayer
+import math
+from viewer_library import *
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'spiderman_trunk'
+urdfNameRoms = ['SpidermanLFootSphere','SpidermanRFootSphere','SpidermanLHandSphere','SpidermanRHandSphere']
+urdfSuffix = ""
+srdfSuffix = ""
+ecsSize = 4
+base_joint_xyz_limits = [-10, 10, -10, 15, 0, 10]
+
+rbprmBuilder = Builder () # RBPRM
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", base_joint_xyz_limits)
+rbprmBuilder.boundSO3([-0.2,0.2,-3.14,3.14,-0.3,0.3])
+rbprmBuilder.setFilter(urdfNameRoms)
+affordanceType = ['Support']
+rbprmBuilder.setAffordanceFilter('SpidermanLFootSphere', affordanceType)
+rbprmBuilder.setAffordanceFilter('SpidermanRFootSphere', affordanceType)
+rbprmBuilder.setAffordanceFilter('SpidermanLHandSphere', affordanceType)
+rbprmBuilder.setAffordanceFilter('SpidermanRHandSphere', affordanceType)
+rbprmBuilder.setContactSize (0.03,0.08)
+rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(ecsSize)
+rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,-3.14,3.14])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+q_init [0:3] = [-0.05, -0.82, 0.50]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0.1, -0.82, 0.648702]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+
+q_goal = q_init [::]
+q_goal [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+q_goal [0:3] = [0.6 , -0.82, 1.5]; r (q_goal)
+#~ q_goal [0:3] = [3, -0.82, 6]; r(q_goal)
+#~ q_goal [0:3] = [1.2, -0.65, 1.1]; r (q_goal)
+
+#~ ps.addPathOptimizer("GradientBased")
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.setAffordanceConfig('Lean', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel (packageName, "scale", "planning", r)
+#~ afftool.analyseAll()
+afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+afftool.visualiseAffordances('Lean', r, [0, 0, 0.9])
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+#~ ps.solve ()
+t = ps.solve ()
+
+print t;
+if isinstance(t, list):
+ t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~
+#~ pp (2)
+#~ pp (0)
+
+#~ pp (1)
+#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~ rbprmBuilder.exportPath (r, ps.client.problem, 1, 0.01, "stair_bauzil_hrp2_path.txt")
+
+cl = Client()
+cl.problem.selectProblem("rbprm_path")
+rbprmBuilder2 = Robot ("toto")
+ps2 = ProblemSolver( rbprmBuilder2 )
+cl.problem.selectProblem("default")
+cl.problem.movePathToProblem(1,"rbprm_path",rbprmBuilder.getAllJointNames())
+r2 = Viewer (ps2, viewerClient=r.client)
+r.client.gui.setVisibility("toto", "OFF")
+#~ r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+#~ r2(q_far)
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/spiderman_compute_DB.py b/script/scenarios/demos/siggraph_asia/spiderman/spiderman_compute_DB.py
new file mode 100644
index 0000000..3397eb7
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/spiderman_compute_DB.py
@@ -0,0 +1,121 @@
+#/usr/bin/env python
+# author: Mylene Campana (mcampana@laas.fr)
+# Script which goes with hpp-rbprm-corba package.
+
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.corbaserver.rbprm.tools.plot_analytics import plotOctreeValues
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+import numpy as np
+from viewer_library import *
+
+
+
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "spiderman"
+urdfSuffix = ""
+srdfSuffix = ""
+
+
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", [0,0,0,0,0,0])
+
+"""
+from hpp.gepetto import Viewer
+psf = ProblemSolver( fullBody ); rr = Viewer (psf)
+q_0 = fullBody.getCurrentConfig(); rr(q_0); fullBody.isConfigValid(q_0)
+"""
+
+
+q_flexion = [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0, 0.2, 0, -0.0, -0.3, 0, 0.2, 0.9, 0, -0.6, 0, 0, 0, -0.2, 0.9, 0, -0.6, 0, 0, 0, -1.1, -1.8, -1, 2.2, -0.9, 0, 0.0, 1.1, -1.8, 1, 2.2, -0.9, 0, 0.0]
+q_contact = [0, 0, 0, 1, 0, 0, 0, 0, 0.0, 0, -0.0, 0.0, 0.0, 2.2, 0.1, 0.3, -1.5, 0.8, 0, 0, -2.2, 0.1, -0.3, -1.5, -0.8, 0, 0, 0.3, -1.1, 0.2, 2, -0.8, 0, 0.0, -0.3, -1.1, -0.2, 2, -0.8, 0, 0.0]
+
+fullBody.isConfigValid(q_flexion)
+fullBody.isConfigValid(q_contact)
+
+
+
+q_lfeet = q_flexion[fullBody.rankInConfiguration ['LThigh_rx']:fullBody.rankInConfiguration ['LFootToe_ry']+1]
+q_rfeet = q_flexion[fullBody.rankInConfiguration ['RThigh_rx']:fullBody.rankInConfiguration ['RFootToe_ry']+1]
+q_larm = q_contact[fullBody.rankInConfiguration ['LHumerus_rx']:fullBody.rankInConfiguration ['LHand_ry']+1]
+q_rarm = q_contact[fullBody.rankInConfiguration ['RHumerus_rx']:fullBody.rankInConfiguration ['RHand_ry']+1]
+
+fullBody.addRefConfigAnalysisWeight(q_lfeet,"RefPoseLFeet",[1.,1.,1.,5.,1.,1.,1.])
+fullBody.addRefConfigAnalysisWeight(q_rfeet,"RefPoseRFeet",[1.,1.,1.,5.,1.,1.,1.])
+fullBody.addRefConfigAnalysis(q_larm,"RefPoseLArm")
+fullBody.addRefConfigAnalysis(q_rarm,"RefPoseRArm")
+
+
+nbSamples = 50000
+x = 0.03 # contact surface width
+y = 0.08 # contact surface length
+
+rLegId = 'RFoot'
+lLegId = 'LFoot'
+rarmId = 'RHand'
+larmId = 'LHand'
+
+fullBody.addLimb(rLegId,'RThigh_rx','SpidermanRFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_3_DOF")
+fullBody.addLimb(lLegId,'LThigh_rx','SpidermanLFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_3_DOF")
+
+fullBody.addLimb(rarmId,'RHumerus_rx','SpidermanRHandSphere',[0,0,0],[0,-1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(larmId,'LHumerus_rx','SpidermanLHandSphere',[0,0,0],[0,1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+
+print("Limbs added to fullbody")
+
+def runallLLeg(lid, dbName):
+ fullBody.runLimbSampleAnalysis(lid, "minimumSingularValue", False)
+ fullBody.runLimbSampleAnalysis(lid, "manipulabilityTr", False)
+ fullBody.runLimbSampleAnalysis(lid, "jointLimitsDistance", False)
+ fullBody.runLimbSampleAnalysis(lid, "isotropyTr", False)
+ fullBody.runLimbSampleAnalysis(lid, "isotropy", False)
+ fullBody.runLimbSampleAnalysis(lid, "manipulability", False)
+ fullBody.runLimbSampleAnalysis(lid, "RefPoseLFeet", True)
+ fullBody.saveLimbDatabase(lid, dbName)
+
+def runallRLeg(lid, dbName):
+ fullBody.runLimbSampleAnalysis(lid, "minimumSingularValue", False)
+ fullBody.runLimbSampleAnalysis(lid, "manipulabilityTr", False)
+ fullBody.runLimbSampleAnalysis(lid, "jointLimitsDistance", False)
+ fullBody.runLimbSampleAnalysis(lid, "isotropyTr", False)
+ fullBody.runLimbSampleAnalysis(lid, "isotropy", False)
+ fullBody.runLimbSampleAnalysis(lid, "manipulability", False)
+ fullBody.runLimbSampleAnalysis(lid, "RefPoseRFeet", True)
+ fullBody.saveLimbDatabase(lid, dbName)
+
+def runallLArm(lid, dbName):
+ fullBody.runLimbSampleAnalysis(lid, "minimumSingularValue", False)
+ fullBody.runLimbSampleAnalysis(lid, "manipulabilityTr", False)
+ fullBody.runLimbSampleAnalysis(lid, "jointLimitsDistance", False)
+ fullBody.runLimbSampleAnalysis(lid, "isotropyTr", False)
+ fullBody.runLimbSampleAnalysis(lid, "isotropy", False)
+ fullBody.runLimbSampleAnalysis(lid, "manipulability", False)
+ fullBody.runLimbSampleAnalysis(lid, "RefPoseLArm", True)
+ fullBody.saveLimbDatabase(lid, dbName)
+
+def runallRArm(lid, dbName):
+ fullBody.runLimbSampleAnalysis(lid, "minimumSingularValue", False)
+ fullBody.runLimbSampleAnalysis(lid, "manipulabilityTr", False)
+ fullBody.runLimbSampleAnalysis(lid, "jointLimitsDistance", False)
+ fullBody.runLimbSampleAnalysis(lid, "isotropyTr", False)
+ fullBody.runLimbSampleAnalysis(lid, "isotropy", False)
+ fullBody.runLimbSampleAnalysis(lid, "manipulability", False)
+ fullBody.runLimbSampleAnalysis(lid, "RefPoseRArm", True)
+ fullBody.saveLimbDatabase(lid, dbName)
+
+
+
+print("Run all legs : ")
+runallLLeg(lLegId, './Spiderman_lleg_flexion_3DOF_EN.db')
+runallRLeg(rLegId, './Spiderman_rleg_flexion_3DOF_EN.db')
+print("Run all arms : ")
+#runallLArm(larmId, './Spiderman_larm_contact_6DOF_EN.db')
+#runallRArm(rarmId, './Spiderman_rarm_contact_6DOF_EN.db')
+
--
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