diff --git a/data/meshes/stair_bauzil.stl b/data/meshes/stair_bauzil.stl
new file mode 100644
index 0000000000000000000000000000000000000000..670fe94e40ea3dab777f06a194e00d6791e45923
Binary files /dev/null and b/data/meshes/stair_bauzil.stl differ
diff --git a/data/srdf/stair_bauzil.srdf b/data/srdf/stair_bauzil.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d3b2c8551e0f243c9424c10eec50951d62b6483
--- /dev/null
+++ b/data/srdf/stair_bauzil.srdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="stair_bauzil">
+ <handle name="handle">
+ <position> 0 0 0 1 0 0 0 </position>
+ <link name="base_link"/>
+ </handle>
+ <handle name="handle2">
+ <position> 0 0 0
+ 0 0 0.7071067811865476 0.7071067811865476 </position>
+ <link name="base_link"/>
+ </handle>
+ <contact name="box_surface">
+ <link name="base_link"/>
+ <point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+ +0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
+ <triangle> 0 2 1 4 5 6</triangle>
+ </contact>
+</robot>
diff --git a/data/stair.blend b/data/stair.blend
new file mode 100644
index 0000000000000000000000000000000000000000..977b5b121243685d51f9432e3d3d2de8a25d479c
Binary files /dev/null and b/data/stair.blend differ
diff --git a/data/stair_bauzil.blend b/data/stair_bauzil.blend
new file mode 100644
index 0000000000000000000000000000000000000000..e7e64c04631a938ca51bb2b8a080e8eaf3176a83
Binary files /dev/null and b/data/stair_bauzil.blend differ
diff --git a/data/urdf/stair_bauzil.urdf b/data/urdf/stair_bauzil.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a49b44d233a4bdc5a39eb51ad62dc1066e63e72
--- /dev/null
+++ b/data/urdf/stair_bauzil.urdf
@@ -0,0 +1,19 @@
+<robot name="stair_bauzil">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package:///../hpp-rbprm-corba/meshes/stair_bauzil.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/stair_bauzil.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/script/loadhrp2stair.py b/script/loadhrp2stair.py
index e065f8dce0651ebcfd635756b40bdd4c0325c114..ecf0f1404f9a16d16b141f0710ff8a0db440127a 100644
--- a/script/loadhrp2stair.py
+++ b/script/loadhrp2stair.py
@@ -18,7 +18,7 @@ srdfSuffix = ""
fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
-fullBody.setJointBounds ("base_joint_xyz", [-1,1, -4, -1, 1, 2.2])
+fullBody.setJointBounds ("base_joint_xyz", [-2,1, -1, 1, 0, 2.2])
ps = tp.ProblemSolver( fullBody )
@@ -26,19 +26,19 @@ r = tp.Viewer (ps)
r.loadObstacleModel ('hpp-rbprm-corba', "scene_wall", "contact")
#~ AFTER loading obstacles
-rLegId = '7rLeg'
+rLegId = '0rLeg'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,-0.105,0,]
rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
-fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, 0.01)
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, 0.1)
-lLegId = '8lLeg'
+lLegId = '1lLeg'
lLeg = 'LLEG_JOINT0'
lLegOffset = [0,-0.105,0]
lLegNormal = [0,1,0]
lLegx = 0.09; lLegy = 0.05
-fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 20000, 0.01)
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, 0.1)
rarmId = '3Rarm'
rarm = 'RARM_JOINT0'
@@ -46,7 +46,7 @@ rHand = 'RARM_JOINT5'
rArmOffset = [-0.05,-0.050,-0.050]
rArmNormal = [1,0,0]
rArmx = 0.024; rArmy = 0.024
-fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 20000, 0.01)
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, 0.01)
#~ AFTER loading obstacles
@@ -56,25 +56,49 @@ lHand = 'LARM_JOINT5'
lArmOffset = [-0.05,-0.050,-0.050]
lArmNormal = [1,0,0]
lArmx = 0.024; lArmy = 0.024
-fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 20000, 0.01)
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, 0.01)
+rKneeId = '0RKnee'
+rLeg = 'RLEG_JOINT0'
+rKnee = 'RLEG_JOINT3'
+rLegOffset = [0.105,0.055,0.017]
+rLegNormal = [-1,0,0]
+rLegx = 0.05; rLegy = 0.05
+#~ fullBody.addLimb(rKneeId, rLeg,rKnee,rLegOffset,rLegNormal, rLegx, rLegy, 10000, 0.01)
+#~
+lKneeId = '1LKnee'
+lLeg = 'LLEG_JOINT0'
+lKnee = 'LLEG_JOINT3'
+lLegOffset = [0.105,0.055,0.017]
+lLegNormal = [-1,0,0]
+lLegx = 0.05; lLegy = 0.05
+#~ fullBody.addLimb(lKneeId,lLeg,lKnee,lLegOffset,lLegNormal, lLegx, lLegy, 10000, 0.01)
+ #~
+
+fullBody.client.basic.robot.setJointConfig('LARM_JOINT0',[1])
+fullBody.client.basic.robot.setJointConfig('RARM_JOINT0',[-1])
+
+q_0 = fullBody.getCurrentConfig();
q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7]
q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.q_goal[0:7]
fullBody.setCurrentConfig (q_init)
-q_init = fullBody.generateContacts(q_init, [0,0,1])
-r (q_init)
+q_0 = fullBody.getCurrentConfig();
+q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
fullBody.setCurrentConfig (q_goal)
-#~ q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+r(q_goal)
+q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+r(q_goal)
-#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId,larmId])
-#~ fullBody.setEndState(q_goal,[rLegId,lLegId,rarmId,larmId])
+fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
#~
#~ configs = fullBody.interpolate(0.1)
-#~ configs2 = fullBody.interpolate(0.05)
+configs = fullBody.interpolate(0.09)
+#~ configs = fullBody.interpolate(0.08)
i = 0;
r (configs[i]); i=i+1; i-1
-
+#~ q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
diff --git a/script/loadhrp2stair_bauzil.py b/script/loadhrp2stair_bauzil.py
new file mode 100644
index 0000000000000000000000000000000000000000..97267a694aeef50c7359700105b239b6818a7afd
--- /dev/null
+++ b/script/loadhrp2stair_bauzil.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 stair_path_bauzil_hrp2 as tp
+
+
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
+
+
+ps = tp.ProblemSolver( fullBody )
+r = tp.Viewer (ps)
+r.loadObstacleModel ('hpp-rbprm-corba', "stair_bauzil", "contact")
+
+#~ AFTER loading obstacles
+rLegId = '0rLeg'
+rLeg = 'RLEG_JOINT0'
+rLegOffset = [0,-0.105,0,]
+rLegNormal = [0,1,0]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, 0.01)
+
+lLegId = '1lLeg'
+lLeg = 'LLEG_JOINT0'
+lLegOffset = [0,-0.105,0]
+lLegNormal = [0,1,0]
+lLegx = 0.09; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, 0.01)
+
+rarmId = '3Rarm'
+rarm = 'RARM_JOINT0'
+rHand = 'RARM_JOINT5'
+rArmOffset = [-0.05,-0.050,-0.050]
+rArmNormal = [1,0,0]
+rArmx = 0.024; rArmy = 0.024
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 30000, 0.01)
+
+
+#~ AFTER loading obstacles
+larmId = '4Larm'
+larm = 'LARM_JOINT0'
+lHand = 'LARM_JOINT5'
+lArmOffset = [-0.05,-0.050,-0.050]
+lArmNormal = [1,0,0]
+lArmx = 0.024; lArmy = 0.024
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, 0.05)
+
+rKneeId = '0RKnee'
+rLeg = 'RLEG_JOINT0'
+rKnee = 'RLEG_JOINT3'
+rLegOffset = [0.105,0.055,0.017]
+rLegNormal = [-1,0,0]
+rLegx = 0.05; rLegy = 0.05
+#~ fullBody.addLimb(rKneeId, rLeg,rKnee,rLegOffset,rLegNormal, rLegx, rLegy, 10000, 0.01)
+#~
+lKneeId = '1LKnee'
+lLeg = 'LLEG_JOINT0'
+lKnee = 'LLEG_JOINT3'
+lLegOffset = [0.105,0.055,0.017]
+lLegNormal = [-1,0,0]
+lLegx = 0.05; lLegy = 0.05
+#~ fullBody.addLimb(lKneeId,lLeg,lKnee,lLegOffset,lLegNormal, lLegx, lLegy, 10000, 0.01)
+ #~
+
+#~ fullBody.client.basic.robot.setJointConfig('LARM_JOINT0',[1])
+#~ fullBody.client.basic.robot.setJointConfig('RARM_JOINT0',[-1])
+
+q_0 = fullBody.getCurrentConfig();
+q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7]
+q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.q_goal[0:7]
+
+
+fullBody.setCurrentConfig (q_init)
+q_0 = fullBody.getCurrentConfig();
+q_init = fullBody.generateContacts(q_init, [0,0,1]); r (q_init)
+
+fullBody.setCurrentConfig (q_goal)
+r(q_goal)
+q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+r(q_goal)
+
+fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
+#~
+#~ configs = fullBody.interpolate(0.1)
+configs = fullBody.interpolate(0.1)
+i = 0;
+r (configs[i]); i=i+1; i-1
+#~ q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
+
diff --git a/script/mardi.txt b/script/mardi.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf47ff67350093d0380a715f0e45625cbef07b4a
--- /dev/null
+++ b/script/mardi.txt
@@ -0,0 +1 @@
+[[-0.8, 0.05, 0.5, 0.7316888688738209, 0.0, 0.6816387600233341, 0.0, 0.0, 0.0, 0.0, 0.0, -0.9616307102093044, -0.11956018256358465, 0.1552003985475618, -0.9018901200100683, -0.06346342848538598, -1.2180511186061531, 0.0, -2.880178272793078, -0.8455340171728246, 0.6465412052375454, -1.0326167015333017, -0.5643387510658422, -1.3749233150793347, 0.0, 0.4952147840421835, -0.11899403129025972, -2.076378632939565, 1.373290164626756, -0.724533450239729, -0.48047623092675124, 0.35420751827208485, -0.5332345907192056, -1.9185725819607906, 1.637171896673827, -1.041576071944718, -0.2651178185492338], [-0.7295081066851622, 0.05139307726099404, 0.5228785104451054, 0.770654967449951, 0.0013499408178099875, 0.6372511262914482, 0.0003175606773991385, 0.0, 0.0, 0.0, 0.0, -1.5524750047414118, 0.5872082208934596, -1.027419867845647, -1.5776001855618162, 0.4809236595394866, -0.38522609699279364, 0.0, -1.5155488372131927, -1.1331915238126773, 1.307951309416334, -1.7043550994076124, -0.5995506197057995, -0.8750283779826754, 0.0, -0.2885623464906358, -0.1539013092609718, -2.02414922410715, 1.5290051011439285, -0.924899678391509, 0.30745487591267945, -0.2133378772981828, -0.22847129193866927, -1.8955389225917296, 1.428752270765925, -0.9628751173103699, 0.24514587813277203], [-0.7295081066851622, 0.05139307726099404, 0.5228785104451054, 0.770654967449951, 0.0013499408178099875, 0.6372511262914482, 0.0003175606773991385, 0.0, 0.0, 0.0, 0.0, -1.5524750047414118, 0.5872082208934596, -1.027419867845647, -1.5776001855618162, 0.4809236595394866, -0.38522609699279364, 0.0, -1.5155488372131927, -1.1331915238126773, 1.307951309416334, -1.7043550994076124, -0.5995506197057995, -0.8750283779826754, 0.0, -0.2885623464906358, -0.1539013092609718, -2.02414922410715, 1.5290051011439285, -0.924899678391509, 0.30745487591267945, -0.2133378524632916, -0.22847135085173945, -1.89553891204994, 1.4287522707658313, -0.9628751376702371, 0.24514586247045206], [-0.6590162133703243, 0.05278615452198808, 0.5457570208902107, 0.8069310624549565, 0.0026951696104282967, 0.5906391407058407, 0.0006340128958998946, 0.0, 0.0, 0.0, 0.0, -1.2637406246322005, 0.4440944185022869, -1.0271505651521229, -1.2507929392255563, 0.2953978435900077, -0.6894792158756579, 0.0, -1.1371180526643174, -0.8722958667804132, 1.1743876674729996, -1.3142505118760086, -0.38648591762824563, -1.086286128360579, 0.0, -0.2716552631385899, -0.11860524563343498, -2.0063302277123665, 1.4468827473550907, -0.7252816644226199, 0.2888550825732252, -0.15018581261741953, -0.24378644911960404, -1.534424575986502, 1.2186566656624584, -0.985873983187673, 0.20794133620184524], [-0.5885243200554865, 0.054179231782982125, 0.568635531335316, 0.8403905306537559, 0.00403099080018533, 0.5419655043623044, 0.0009482520657262834, 0.0, 0.0, 0.0, 0.0, -0.8346789685285324, -0.1209223283727815, 0.10734523126803834, -0.7013317838685373, -0.19699878718739647, -1.1847139743355233, 0.0, -1.0280526799046852, -0.5200516774662453, 1.2492221135994797, -0.6494272108064829, -0.3251957955340264, -1.437181564366608, 0.0, -0.24402578989024423, -0.14498453803683153, -1.6682909686978409, 1.3006670152948594, -0.8003267807790493, 0.27326385122778474, -0.08964330342126667, -0.24824624947943186, -1.1467390028507707, 0.9157698042401929, -0.9417659534911521, 0.17371541828442655], [-0.5885243200554865, 0.054179231782982125, 0.568635531335316, 0.8403905306537559, 0.00403099080018533, 0.5419655043623044, 0.0009482520657262834, 0.0, 0.0, 0.0, 0.0, -0.8346789685285324, -0.1209223283727815, 0.10734523126803834, -0.7013317838685373, -0.19699878718739647, -1.1847139743355233, 0.0, -1.1577499302366454, 0.13262891662869067, -1.328778129203227, -0.653923410329511, 0.09107315196571622, -1.0485920819857026, 0.0, -0.24402578989024423, -0.14498453803683153, -1.6682909686978409, 1.3006670152948594, -0.8003267807790493, 0.27326385122778474, -0.08964330342126667, -0.24824624947943186, -1.1467390028507707, 0.9157698042401929, -0.9417659534911521, 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\ No newline at end of file
diff --git a/script/mardigood.txt b/script/mardigood.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33971fe237eb208eab04b434a1824d782667ea5e
--- /dev/null
+++ b/script/mardigood.txt
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/script/paths/stair.path b/script/paths/stair.path
new file mode 100644
index 0000000000000000000000000000000000000000..06901a7b407741f0e7821ddafffb00c818d6d832
--- /dev/null
+++ b/script/paths/stair.path
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\ No newline at end of file
diff --git a/script/paths/truck.path b/script/paths/truck.path
index fb136e275ee146ed7bb1ea7a73f9726bd593dc5d..06901a7b407741f0e7821ddafffb00c818d6d832 100644
--- a/script/paths/truck.path
+++ b/script/paths/truck.path
@@ -1,3586 +1,1026 @@
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aa(lp5
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aa(lp6
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aa(lp9
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aa(lp12
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-aF0.021230912020723643
-aa(lp443
-F-0.031140585166875782
-aF-3.9795926401643844
-aF1.9901352641726142
-aF0.9988538315661785
-aF-0.0028532589069336844
-aF-0.04424220102972319
-aF0.018041888127905355
-aa(lp444
-F-0.025630884466686665
-aF-3.9832033123522312
-aF1.9918806309216355
-aF0.9992234867742023
-aF-0.002348721604239226
-aF-0.036418921929967735
-aF0.014851569314057437
-aa(lp445
-F-0.020121183766497575
-aF-3.9868139845400776
-aF1.9936259976706567
-aF0.999521424682066
-aF-0.0018440157266718681
-aF-0.028593028933731585
-aF0.011660184558036997
-aa(lp446
-F-0.014611483066308453
-aF-3.990424656727924
-aF1.9953713644196778
-aF0.9997476239058625
-aF-0.0013391774985031457
-aF-0.020765083729089896
-aF0.008467962915206996
-aa(lp447
-F-0.0091017823661193
-aF-3.9940353289157704
-aF1.997116731168699
-aF0.9999020682105874
-aF-0.0008342431535038025
-aF-0.012935648151411138
-aF0.005275133500996327
-aa(lp448
-F-0.00359208166593018
-aF-3.9976460011036172
-aF1.9988620979177203
-aF0.9999847465113045
-aF-0.0003292489323431846
-aF-0.005105284143032469
-aF0.002081925474455519
+F0.0999797221436895
+aF-5.244258087311612e-06
+aF1.2999726808909875
+aF0.999999999145713
+aF3.80898526871955e-05
+aF1.5637410818560102e-05
+aF3.6343378836435917e-06
aa.
\ No newline at end of file
diff --git a/script/stair_path_bauzil_hrp2.py b/script/stair_path_bauzil_hrp2.py
new file mode 100644
index 0000000000000000000000000000000000000000..2d61fe2271aa44a6e6d9997556cdb9fd75f72d3a
--- /dev/null
+++ b/script/stair_path_bauzil_hrp2.py
@@ -0,0 +1,53 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk'
+urdfNameRom = 'hrp2_rom'
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+q_goal = q_init [::]
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [0:3] = [0, -0.6, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+
+
+q_goal [0:3] = [1.49, -0.6, 1.25]; r (q_goal)
+
+#~ ps.addPathOptimizer("GradientBased")
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+r.loadObstacleModel (packageName, "stair_bauzil", "planning")
+ps.solve ()
+
+
+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")
+r (q_init)
diff --git a/script/stair_path_bauzil_hrp2.pyc b/script/stair_path_bauzil_hrp2.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..c12e1b13acc5852de60688c0820fe674a62d8dda
Binary files /dev/null and b/script/stair_path_bauzil_hrp2.pyc differ
diff --git a/script/stair_path_hrp2.py b/script/stair_path_hrp2.py
index 60ef411d7422e2be47117780547c19dd8a32bc3d..45634be4c19f4fdf6f3abc0f95037cd12ea03378 100644
--- a/script/stair_path_hrp2.py
+++ b/script/stair_path_hrp2.py
@@ -22,37 +22,40 @@ ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+q_goal = q_init [::]
+q_goal [0:3] = [0.19, 0.05, 0.9]; r (q_goal)
#~ fullBody.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, -0.6816387600233341, 0]); q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+rbprmBuilder.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, 0.6816387600233341, 0]); q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
q_init = rbprmBuilder.getCurrentConfig ();
-q_init [0:3] = [-0.3, 0, 0.7]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+q_init [0:3] = [-0.8, 0.05, 0.5]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
#~ q_0 [0:3] = [-0.2, 0, 0.3]; r (q_0)
-q_goal = q_init [::]
-q_goal [0:3] = [0.1, 0, 1.7]; r (q_goal)
+q_goal [0:3] = [0.13, 0.05, 0.8]; r (q_goal)
#~ q_init [0:6] = [0.0, -2.2, 2.0, 0.7316888688738209, 0.0, 0.6816387600233341];
#~ rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ ps.addPathOptimizer("GradientBased")
ps.addPathOptimizer("RandomShortcut")
-ps.addPathOptimizer("GradientBased")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
ps.client.problem.selectConFigurationShooter("RbprmShooter")
-#~ ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
r.loadObstacleModel (packageName, "scene_wall", "planning")
ps.solve ()
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 (1)
-#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/truck.path")
-#~ pp (1)
-#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/truck.path")
+#~ pp (2)
+#~ pp (0)
+pp (1)
+#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+r (q_init)
diff --git a/script/stair_path_hrp2.pyc b/script/stair_path_hrp2.pyc
index 040c17feded822dd2d5e60c57d5a76fff2a4a92d..561258ffd030d8e92952e600fe05d1113e6b0f38 100644
Binary files a/script/stair_path_hrp2.pyc and b/script/stair_path_hrp2.pyc differ