Merge pull request #19 from pFernbach/devel

Devel

data/srdf/slalom_debris.srdf

+<robot name="chair">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://hpp-rbprm-corba/meshes/slalom_debris.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/slalom_debris.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

data/urdf/slalom_debris.urdf

+<robot name="chair">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://hpp-rbprm-corba/meshes/slalom_debris.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/slalom_debris.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

script/scenarios/demos/darpa_hyq.py

 #Importing helper class for RBPRM
-from hpp.corbaserver.rbprm.hyq import Robot
+from hpp.corbaserver.rbprm.hyq_contact6D import Robot
 from hpp.corbaserver.problem_solver import ProblemSolver
 from hpp.gepetto import Viewer
 
@@ -18,51 +18,35 @@ from hpp.corbaserver import Client
 #  This time we load the full body model of HyQ
 fullBody = Robot () 
 fullBody.setJointBounds ("root_joint", [-2,5, -1, 1, 0.3, 4])
+fullBody.client.robot.setDimensionExtraConfigSpace(6)
+fullBody.client.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,0,0,0,0,0,0])
 
 #  Setting a number of sample configurations used
 nbSamples = 10000
 
 ps = tp.ProblemSolver(fullBody)
-r = tp.Viewer (ps, viewerClient=tp.r.client)
+v = tp.Viewer (ps, viewerClient=tp.v.client)
 
 rootName = 'base_joint_xyz'
-cType = "_3_DOF"
+cType = "_6_DOF"
 
 def addLimbDb(limbId, heuristicName, loadValues = True, disableEffectorCollision = False):
 	fullBody.addLimbDatabase(str(db_dir+limbId+'.db'), limbId, heuristicName,loadValues, disableEffectorCollision)
 
-fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "random", 0.1, cType)
-fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "random", 0.05, cType)
-fullBody.addLimb(fullBody.rArmId,fullBody.rarm,fullBody.rhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "random", 0.05, cType)
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "forward", 0.1, cType)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "forward", 0.05, cType)
+fullBody.addLimb(fullBody.rArmId,fullBody.rarm,fullBody.rhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "forward", 0.05, cType)
 fullBody.addLimb(fullBody.lArmId,fullBody.larm,fullBody.lhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "random", 0.05, cType)
 
 #~ fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
 #~ fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
 #~ fullBody.runLimbSampleAnalysis(rarmId, "jointLimitsDistance", True)
 #~ fullBody.runLimbSampleAnalysis(larmId, "jointLimitsDistance", True)
-"""
-q_init = [-2.0,
- 0.0,
- 0.6838277139631803,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.14279812395541294,
- 0.934392553166556,
- -0.9968239786882757,
- -0.06521258938340457,
- -0.8831796268418511,
- 1.150049183494211,
- -0.06927610020154493,
- 0.9507443168724581,
- -0.8739975339028809,
- 0.03995660287873871,
- -0.9577096766517215,
- 0.9384602821326071]
-"""
-q_init=fullBody.referenceConfig[::]; q_init[0:7] = tp.q_init[0:7]; q_init[2]=fullBody.referenceConfig[2]+0.02
-q_goal = fullBody.referenceConfig[::]; q_goal[0:7] = tp.q_goal[0:7]; q_goal[2]=fullBody.referenceConfig[2]+0.02
+
+q_init=fullBody.referenceConfig[::] + [0]*6; q_init[0:7] = tp.q_init[0:7]; 
+#q_init[2]=fullBody.referenceConfig[2]
+q_goal = fullBody.referenceConfig[::]+ [0]*6; q_goal[0:7] = tp.q_goal[0:7]; 
+#q_goal[2]=fullBody.referenceConfig[2]
 
 
 q_init = fullBody.generateContacts(q_init, [0,0,1])
@@ -73,12 +57,13 @@ fullBody.setStartState(q_init,[fullBody.rLegId,fullBody.lArmId,fullBody.lLegId,f
 fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lArmId,fullBody.lLegId,fullBody.rArmId])
 
 
-r(q_init)
+
+v(q_init)
 configs = []
 
 
 from hpp.gepetto import PathPlayer
-pp = PathPlayer (fullBody.client, r)
+pp = PathPlayer (fullBody.client, v)
 
 
 import time
@@ -86,49 +71,49 @@ import time
 #DEMO METHODS
 
 def initConfig():
-	r.client.gui.setVisibility("hyq", "ON")
+	v.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")
-	r(q_init)
+	tp.v.client.gui.setVisibility("toto", "OFF")
+	tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
+	v(q_init)
 	
 def endConfig():
-	r.client.gui.setVisibility("hyq", "ON")
+	v.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")
-	r(q_goal)
+	tp.v.client.gui.setVisibility("toto", "OFF")
+	tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
+	v(q_goal)
 	
 
 def rootPath():
-	r.client.gui.setVisibility("hyq", "OFF")
+	v.client.gui.setVisibility("hyq", "OFF")
 	tp.cl.problem.selectProblem("rbprm_path")
-	tp.r.client.gui.setVisibility("toto", "OFF")
-	r.client.gui.setVisibility("hyq", "OFF")
-	tp.r.client.gui.setVisibility("hyq_trunk_large", "ON")
+	tp.v.client.gui.setVisibility("toto", "OFF")
+	v.client.gui.setVisibility("hyq", "OFF")
+	tp.v.client.gui.setVisibility("hyq_trunk_large", "ON")
 	tp.pp(0)
-	tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
-	r.client.gui.setVisibility("hyq", "ON")
+	tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
+	v.client.gui.setVisibility("hyq", "ON")
 	tp.cl.problem.selectProblem("default")
 	
 def genPlan(stepsize=0.06):
 	tp.cl.problem.selectProblem("default")
-	r.client.gui.setVisibility("hyq", "ON")
-	tp.r.client.gui.setVisibility("toto", "OFF")
-	tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
+	v.client.gui.setVisibility("hyq", "ON")
+	tp.v.client.gui.setVisibility("toto", "OFF")
+	tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
 	global configs
-	start = time.clock() 
-	configs = fullBody.interpolate(stepsize, 8, 0, filterStates = False, testReachability=False, quasiStatic=True)
-	end = time.clock() 
+	start = time.time() 
+	configs = fullBody.interpolate(stepsize, 5, 0., filterStates = True,testReachability = False)
+	end = time.time() 
 	print "Contact plan generated in " + str(end-start) + "seconds"
 	
 def contactPlan(step = 0.5):
-	r.client.gui.setVisibility("hyq", "ON")
+	v.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")
+	tp.v.client.gui.setVisibility("toto", "OFF")
+	tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
 	for i in range(0,len(configs)):
-		r(configs[i]);
+		v(configs[i]);
 		time.sleep(step)
                 		
 		

script/scenarios/demos/darpa_hyq_path.py

@@ -21,13 +21,24 @@ rbprmBuilder.boundSO3([-0.4,0.4,-0.3,0.3,-0.3,0.3])
 # Creating an instance of HPP problem solver and the viewer
 from hpp.corbaserver.problem_solver import ProblemSolver
 ps = ProblemSolver( rbprmBuilder )
-r = Viewer (ps)
+from hpp.gepetto import ViewerFactory
+vf = ViewerFactory (ps)
+
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+#~ afftool.loadObstacleModel (packageName, "darpa", "planning", r, reduceSizes=[0.05,0.,0.])
+afftool.loadObstacleModel ("hpp-rbprm-corba", "darpa", "planning", vf,reduceSizes=[0.1,0,0])
+v = vf.createViewer()
+#afftool.visualiseAffordances('Support', v, [0.25, 0.5, 0.5])
+
+
 
 # Setting initial and goal configurations
 q_init = rbprmBuilder.getCurrentConfig ();
-q_init [0:3] = [-2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+q_init [0:3] = [-2, 0, 0.64]; rbprmBuilder.setCurrentConfig (q_init); v (q_init)
 q_goal = q_init [::]
-q_goal [0:3] = [3, 0, 0.63]; r (q_goal)
+q_goal [0:3] = [3, 0, 0.64]; v (q_goal)
 #~ q_goal [0:3] = [-1.5, 0, 0.75]; r (q_goal)
 
 # Choosing a path optimizer
@@ -35,12 +46,6 @@ ps.addPathOptimizer("RandomShortcut")
 ps.setInitialConfig (q_init)
 ps.addGoalConfig (q_goal)
 
-from hpp.corbaserver.affordance.affordance import AffordanceTool
-afftool = AffordanceTool ()
-#~ afftool.loadObstacleModel (packageName, "darpa", "planning", r, reduceSizes=[0.05,0.,0.])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "darpa", "planning", r)
-afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
-
 # Choosing RBPRM shooter and path validation methods.
 # Note that the standard RRT algorithm is used.
 ps.client.problem.selectConfigurationShooter("RbprmShooter")
@@ -56,11 +61,11 @@ print "computation time for root path ", t
 
 # Playing the computed path
 from hpp.gepetto import PathPlayer
-pp = PathPlayer (r)
+pp = PathPlayer (v)
 
 q_far = q_init [::]
-q_far [0:3] = [-2, -3, 0.63]; 
-r(q_far)
+q_far [0:3] = [-2, -3, 0.6]; 
+v(q_far)
 
 for i in range(1,10):
 	rbprmBuilder.client.problem.optimizePath(i)
@@ -76,6 +81,6 @@ rbprmBuilder2 = Robot ("toto")
 ps2 = ProblemSolver( rbprmBuilder2 )
 cl.problem.selectProblem("default")
 cl.problem.movePathToProblem(8,"rbprm_path",rbprmBuilder.getAllJointNames()[1:])
-r2 = Viewer (ps2, viewerClient=r.client)
+r2 = Viewer (ps2, viewerClient=v.client)
 r2(q_far)
 

script/scenarios/demos/hyq_slalom_debris.py

+from hpp.corbaserver.rbprm.hyq_contact6D import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+import time
+print "Plan guide trajectory ..."
+import hyq_slalom_debris_path as tp
+print "Done."
+import time
+
+pId = tp.ps.numberPaths() -1
+fullBody = Robot ()
+
+# Set the bounds for the root
+root_bounds = tp.root_bounds
+root_bounds[4] -= 0.05
+root_bounds[5] += 0.05
+fullBody.setJointBounds ("root_joint",  root_bounds)
+# add the 6 extraDof for velocity and acceleration (see *_path.py script)
+fullBody.client.robot.setDimensionExtraConfigSpace(tp.extraDof)
+fullBody.client.robot.setExtraConfigSpaceBounds([-tp.vMax,tp.vMax,-tp.vMax,tp.vMax,0,0,-tp.aMax,tp.aMax,-tp.aMax,tp.aMax,0,0])
+ps = tp.ProblemSolver( fullBody )
+ps.setParameter("Kinodynamic/velocityBound",tp.vMax)
+ps.setParameter("Kinodynamic/accelerationBound",tp.aMax)
+#load the viewer
+v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
+
+# load a reference configuration
+q_ref = fullBody.referenceConfig[::]+[0]*6
+q_init = q_ref[::]
+fullBody.setReferenceConfig(q_ref)
+fullBody.setCurrentConfig (q_init)
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases : 
+
+nbSamples = 10000
+
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
+fullBody.addLimb(fullBody.rArmId,fullBody.rarm,fullBody.rhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
+fullBody.addLimb(fullBody.lArmId,fullBody.larm,fullBody.lhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
+
+for limbId in fullBody.limbNames :
+    fullBody.runLimbSampleAnalysis(limbId, "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,0.01)[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]
+dir_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS:tp.indexECS+3]
+acc_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS+3:tp.indexECS+6]
+dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.01)[tp.indexECS:tp.indexECS+3]
+acc_goal = [0,0,0]
+
+robTreshold = 3
+# copy extraconfig for start and init configurations
+q_init[configSize:configSize+3] = dir_init[::]
+q_init[configSize+3:configSize+6] = acc_init[::]
+q_goal[configSize:configSize+3] = dir_goal[::]
+q_goal[configSize+3:configSize+6] = [0,0,0]
+
+
+fullBody.setStaticStability(True)
+fullBody.setCurrentConfig (q_init)
+
+fullBody.setCurrentConfig (q_goal)
+
+v.addLandmark('hyq/base_link',0.3)
+
+
+q_init[2] = fullBody.referenceConfig[2]
+q_goal[2] = fullBody.referenceConfig[2]
+v(q_init)
+#q_init = fullBody.generateContacts(q_init, [0,0,1])
+#q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+
+# specify the full body configurations as start and goal state of the problem
+fullBody.setStartState(q_init,[fullBody.rLegId,fullBody.lArmId,fullBody.rArmId,fullBody.lLegId])
+fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lArmId,fullBody.rArmId,fullBody.lLegId])
+
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True,testReachability = False)
+tInterpolateConfigs = time.time() - tStart
+print "Done."
+print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
+print "number of configs :", len(configs)
+#raw_input("Press Enter to display the contact sequence ...")
+#displayContactSequence(v,configs)
+
+
+

script/scenarios/demos/hyq_slalom_debris_path.py

+from hpp.corbaserver.rbprm.hyq_abstract import Robot
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+import time
+
+
+
+vMax = 0.2# linear velocity bound for the root
+aMax = 0.1# linear acceleration bound for the root
+extraDof = 6
+mu=0.5# coefficient of friction
+# Creating an instance of the helper class, and loading the robot
+# Creating an instance of the helper class, and loading the robot
+rbprmBuilder = Robot ()
+# Define bounds for the root : bounding box of the scenario
+root_bounds = [-1.7,2.5, -0.2, 2, 0.63, 0.63]
+rbprmBuilder.setJointBounds ("root_joint",root_bounds)
+
+# 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(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom'])
+rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', ['Support'])
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-4,4,-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",0.01)
+ps.setParameter("DynamicPlanner/sizeFootY",0.01)
+ps.setParameter("DynamicPlanner/friction",0.5)
+ps.setParameter("Kinodynamic/forceOrientation",True)
+# sample only configuration with null velocity and acceleration :
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",50)
+
+# 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-rbprm-corba", "slalom_debris", "planning", vf,reduceSizes=[0.05,0,0])
+v = vf.createViewer(displayArrows = True)
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+# Setting initial configuration
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [0:3] = [-1.5, 0, 0.63]
+q_init[3:7] = [0,0,0,1]
+q_init[-6] = 0.05
+v (q_init)
+ps.setInitialConfig (q_init)
+# set goal config
+rbprmBuilder.setCurrentConfig (q_init)
+q_goal = q_init [::]
+q_goal[0] = 2.2
+v(q_goal)
+ps.addGoalConfig (q_goal)
+
+# Choosing RBPRM shooter and path validation methods.
+ps.selectConfigurationShooter("RbprmShooter")
+ps.addPathOptimizer ("RandomShortcutDynamic")
+ps.selectPathValidation("RbprmPathValidation",0.05)
+# Choosing kinodynamic methods :
+ps.selectSteeringMethod("RBPRMKinodynamic")
+ps.selectDistance("Kinodynamic")
+ps.selectPathPlanner("DynamicPlanner")
+
+# Solve the planning problem :
+t = ps.solve ()
+print "Guide planning time : ",t
+
+ps.optimizePath(1)
+pid = ps.numberPaths()-1
+# display solution : 
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (v)
+pp.dt=0.1
+#pp.displayVelocityPath(pid)
+#v.client.gui.setVisibility("path_2_root","ALWAYS_ON_TOP")
+pp.dt=0.01
+#pp(0)
+
+# move the robot out of the view before computing the contacts
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+

script/scenarios/demos/talos_flatGround.py

@@ -32,9 +32,9 @@ tStart = time.time()
 # generate databases : 
 
 nbSamples = 50000
-fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints)
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints)
 fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
-fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints)
 fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
 
 
@@ -84,9 +84,10 @@ tStart = time.time()
 configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = 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)
+#raw_input("Press Enter to display the contact sequence ...")
+#displayContactSequence(v,configs)
 
 
 

script/scenarios/demos/talos_flatGround_path.py

 from hpp.corbaserver.rbprm.talos_abstract import Robot
 from hpp.gepetto import Viewer
-from hpp.corbaserver import Client
 from hpp.corbaserver import ProblemSolver
 import time
 
@@ -84,9 +83,10 @@ print "Guide planning time : ",t
 # display solution : 
 from hpp.gepetto import PathPlayer
 pp = PathPlayer (v)
-pp.dt=0.03
-pp.displayVelocityPath(0)
+pp.dt=0.1
+#pp.displayVelocityPath(0)
 v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
+pp.dt=0.01
 #pp(0)
 
 # move the robot out of the view before computing the contacts

script/tools/disp_bezier.py

-from spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
+from hpp_spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
 
 from numpy import matrix
 from numpy.linalg import norm

script/tools/polyBezier.py

-from spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
-import inspect
-
-class PolyBezier:
-    
-    def __init__(self,curves):
-        if not isinstance(curves,list): # deal with single bezier curve input
-            curves = [curves]
-        self.curves=curves
-        self.times=[]
-        self.times +=[0]
-        self.d_curves=[]
-        self.dd_curves=[]
-        self.jerk_curves=[]
-        for i in range(len(curves)):
-            if not isinstance(curves[i],bezier):
-                raise TypeError("PolyBezier must be called with a list of bezier curves (or a single bezier curve)")
-            self.times+=[curves[i].max() + self.times[-1]]
-            
-    def findInterval(self,t):
-        if t>self.times[-1] or t<0:
-            raise ValueError("Parameter is outside of definition range of the curves, t = "+str(t) )       
-        for cit in range(len(self.times)):
-            if t<=self.times[cit+1]:
-                return cit  
-        raise ValueError("Error in times intervals for t = "+str(t))        
-            
-    def findIntervalAdjustTime(self,t):
-        id = self.findInterval(t)
-        t -= self.times[id]
-        return id,t
-    
-    def getBezierAt(self,t):
-        id = self.findInterval(t)
-        return self.curves[id]
-       
-    def __call__(self,t):
-        id = self.findInterval(t)
-        tc = t-self.times[id]
-        return self.curves[id](tc)
-            
-    def numCurves(self):
-        return len(self.curves)
-    
-    def length(self):
-        return self.times[-1]
-
-    def max(self):
-        return self.length()
-    
-    def lengthNonZero(self):
-        length = 0
-        for c in self.curves:
-            if c.degree > 0:
-                length += (c.max() - c.min())
-        return length
-    
-    def isInFirst(self,t):