[script] add a script for kinodynamic planner with talos

script/scenarios/demos/talos_flatGround_path.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+from hpp.corbaserver import Client
+from hpp.corbaserver import ProblemSolver
+import time
+
+
+
+
+rootJointType = 'freeflyer'
+packageName = 'talos-rbprm'
+meshPackageName = 'talos-rbprm'
+urdfName = 'talos_trunk'
+urdfNameRom =  ['talos_larm_rom','talos_rarm_rom','talos_lleg_rom','talos_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+vMax = 0.3
+aMax = 0.1
+extraDof = 6
+mu=0.5
+# Creating an instance of the helper class, and loading the robot
+rbprmBuilder = Builder ()
+rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("root_joint", [-5,5, -1.5, 1.5, 0.95, 1.05])
+
+
+# The following lines set constraint on the valid configurations:
+# a configuration is valid only if all limbs can create a contact ...
+rbprmBuilder.setFilter(['talos_lleg_rom','talos_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('talos_lleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('talos_rleg_rom', ['Support'])
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-1.7,1.7,-0.1,0.1,-0.1,0.1])
+rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
+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 and the viewer
+
+ps = ProblemSolver( rbprmBuilder )
+ps.setParameter("Kinodynamic/velocityBound",vMax)
+ps.setParameter("Kinodynamic/accelerationBound",aMax)
+ps.setParameter("DynamicPlanner/sizeFootX",0.2)
+ps.setParameter("DynamicPlanner/sizeFootY",0.12)
+ps.setParameter("DynamicPlanner/friction",0.5)
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+
+
+from hpp.gepetto import ViewerFactory
+vf = ViewerFactory (ps)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel ("hpp-rbprm-corba", "ground", "planning", vf)
+v = vf.createViewer(displayArrows = True)
+afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+# Setting initial configuration
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[3:7] = [0,0,0,1]
+q_init [0:3] = [0, 0, 1.]
+v (q_init)
+
+# set goal config
+rbprmBuilder.setCurrentConfig (q_init)
+q_goal = q_init [::]
+q_goal[0] = 1.5
+v(q_goal)
+
+ps.setInitialConfig (q_init)
+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")
+
+
+t = ps.solve ()
+print "Guide planning time : ",t
+
+
+# display solution : 
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (v)
+pp.dt=0.03
+pp.displayVelocityPath(0)
+v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
+pp(0)
+
+