update script for stairs

script/dynamic/stairs10_hrp2_interStatic.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+from tools import *
+import stairs10_hrp2_pathKino as tp
+import time
+import omniORB.any
+from constraint_to_dae import *
+from display_tools import *
+from planning.configs.stairs10_bauzil_stairs import *
+from disp_bezier import *
+from hpp.corbaserver.rbprm.rbprmstate import State,StateHelper
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+#  Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"
+urdfSuffix = "_reduced_safe20"
+srdfSuffix = ""
+pId = tp.ps.numberPaths() -1
+fullBody = FullBody ()
+tPlanning = 0.
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz",  [0,2,0.6 ,1.1, 0.35, 1.5])
+fullBody.setJointBounds ("LLEG_JOINT3",  [0.4,2.61799])
+fullBody.setJointBounds ("RLEG_JOINT3", [0.4,2.61799])
+
+
+fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
+fullBody.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,0,0,0,0,0,0])
+ps = tp.ProblemSolver( fullBody )
+ps.client.problem.setParameter("aMax",omniORB.any.to_any(tp.aMax))
+ps.client.problem.setParameter("vMax",omniORB.any.to_any(tp.vMax))
+
+r = tp.Viewer (ps,viewerClient=tp.r.client,displayArrows = False, displayCoM = True)
+
+view = [0.8,
+ 0.75,
+ 4.85,
+ -0.7071,
+ 0,
+ 0,
+ 0.7071]
+
+r.client.gui.setCameraTransform(0,view)
+
+
+
+q_init =[0, 0, 0.648702, 1.0, 0.0 , 0.0, 0.0,0.0, 0.0, 0.0, 0.0,0.261799388,  0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0,0,0,0,0,0]; r (q_init)
+q_ref = q_init[::]
+fullBody.setCurrentConfig (q_init)
+
+fullBody.setReferenceConfig (q_init)
+
+
+#~ AFTER loading obstacles
+tStart = time.time()
+
+
+
+rLegOffset = [0,0,-0.0955]
+rLegLimbOffset=[0,0,-0.035]#0.035
+rLegNormal = [0,0,1]
+rLegx = 0.09; rLegy = 0.05
+#fullBody.addLimbDatabase("./db/hrp2_rleg_db.db",rLegId,"forward")
+fullBody.addLimb(rLegId,rleg,'',rLegOffset,rLegNormal, rLegx, rLegy, 100000, "fixedStep06", 0.01,"_6_DOF",limbOffset=rLegLimbOffset,kinematicConstraintsMin=0.5)
+fullBody.runLimbSampleAnalysis(rLegId, "ReferenceConfiguration", True)
+#fullBody.saveLimbDatabase(rLegId, "./db/hrp2_rleg_db.db")
+
+
+lLegOffset = [0,0,-0.0955]
+lLegLimbOffset=[0,0,0.035]
+lLegNormal = [0,0,1]
+lLegx = 0.09; lLegy = 0.05
+#fullBody.addLimbDatabase("./db/hrp2_lleg_db.db",lLegId,"forward")
+fullBody.addLimb(lLegId,lleg,'',lLegOffset,rLegNormal, lLegx, lLegy, 100000, "fixedStep06", 0.01,"_6_DOF",limbOffset=lLegLimbOffset,kinematicConstraintsMin=0.5)
+fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
+#fullBody.saveLimbDatabase(lLegId, "./db/hrp2_lleg_db.db")
+
+
+tGenerate =  time.time() - tStart
+print "generate databases in : "+str(tGenerate)+" s"
+
+
+"""
+fullBody.addLimbDatabase("./db/hrp2_rleg_db.db",rLegId,"forward")
+fullBody.addLimbDatabase("./db/hrp2_lleg_db.db",lLegId,"forward")
+tLoad =  time.time() - tStart
+print "Load databases in : "+str(tLoad)+" s"
+"""
+
+
+q_0 = fullBody.getCurrentConfig(); 
+#~ fullBody.createOctreeBoxes(r.client.gui, 1, rarmId, q_0,)
+
+
+
+
+eps=0.0001
+configSize = fullBody.getConfigSize() -fullBody.client.basic.robot.getDimensionExtraConfigSpace()
+
+q_init[0:7] = tp.ps.configAtParam(pId,eps)[0:7] # use this to get the correct orientation
+q_goal = q_ref[::]
+q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.0001)[0:7]
+dir_init = [0,0,0]
+acc_init = [0,0,0]
+dir_goal = tp.ps.configAtParam(pId,eps)[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]
+
+
+# FIXME : test
+q_init[2] = q_ref[2] + 0.0005
+q_goal[2] = q_ref[2] +0.6005
+
+# Randomly generating a contact configuration at q_init
+fullBody.setStaticStability(True)
+fullBody.setCurrentConfig (q_init)
+r(q_init)
+
+
+# Randomly generating a contact configuration at q_end
+fullBody.setCurrentConfig (q_goal)
+#q_goal = fullBody.generateContacts(q_goal, dir_goal,acc_goal,robTreshold)
+r(q_goal)
+
+# specifying the full body configurations as start and goal state of the problem
+r.addLandmark('hrp2_14/BODY',0.3)
+r(q_init)
+
+
+fullBody.setStartState(q_init,[lLegId,rLegId])
+fullBody.setEndState(q_goal,[lLegId,rLegId])
+fullBody.setStaticStability(True) # only set it after the init/goal configuration are computed
+
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (fullBody.client.basic, r)
+
+import fullBodyPlayerHrp2
+
+tStart = time.time()
+configsFull = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
+
+
+
+tInterpolateConfigs = time.time()-tStart
+print "number of configs : ", len(configsFull)
+print "generated in "+str(tInterpolateConfigs)+" s"
+r(configsFull[len(configsFull)-1])
+
+
+
+
+
+from generate_contact_sequence import *
+
+beginState = 0
+endState = len(configsFull)-1
+configs=configsFull[beginState:endState+1]
+cs = generateContactSequence(fullBody,configs,beginState, endState,r)
+
+#displayContactSequence(r,configsFull)
+
+
+filename = OUTPUT_DIR + "/" + OUTPUT_SEQUENCE_FILE
+cs.saveAsXML(filename, "ContactSequence")
+print "save contact sequence : ",filename
+
+
+"""
+
+s0 = State(fullBody,q=q_init,limbsIncontact = [rLegId,lLegId])
+s0 = State(fullBody,q=configsFull[10],limbsIncontact = [rLegId,lLegId])
+s1,success = StateHelper.removeContact(s0,lLegId)
+r(s1.q())
+fullBody.isReachableFromState(s1.sId,s1.sId)
+displayOneStepConstraints(r)
+
+
+"""
+
+
+

script/dynamic/stairs10_hrp2_pathKino.py

+## Importing helper class for setting up a reachability planning problem
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+
+# Importing Gepetto viewer helper class
+from hpp.gepetto import Viewer
+import time
+import math
+import omniORB.any
+from planning.configs.stairs10_bauzil_stairs import *
+
+from hpp.corbaserver import Client
+from hpp.corbaserver.robot import Robot as Parent
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+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_arms_flexible'
+urdfNameRoms =  [rLegId,lLegId,rArmId,lArmId]
+urdfSuffix = ""
+srdfSuffix = ""
+
+
+# Creating an instance of the helper class, and loading the robot
+rbprmBuilder = Builder ()
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+
+
+
+# The following lines set constraint on the valid configurations:
+# a configuration is valid only if all limbs can create a contact ...
+rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+#rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Lean'])
+#rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+vMax = 0.2;
+aMax = 0.1;
+extraDof = 6
+
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2,0.6 ,1.1, 0.45, 1.5])
+rbprmBuilder.setJointBounds('CHEST_JOINT0',[-0.05,0.05])
+rbprmBuilder.setJointBounds('CHEST_JOINT1',[-0.05,0.05])
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-math.pi,math.pi,-0.1,0.1,-0.1,0.1])
+rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof)
+rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,0,0,0,0,0,0])
+indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace()
+
+
+# Creating an instance of HPP problem solver and the viewer
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+ps = ProblemSolver( rbprmBuilder )
+ps.client.problem.setParameter("aMax",omniORB.any.to_any(aMax))
+ps.client.problem.setParameter("vMax",omniORB.any.to_any(vMax))
+ps.client.problem.setParameter("orientedPath",omniORB.any.to_any(0.))
+ps.client.problem.setParameter("friction",omniORB.any.to_any(MU))
+ps.client.problem.setParameter("sizeFootX",omniORB.any.to_any(0.24))
+ps.client.problem.setParameter("sizeFootY",omniORB.any.to_any(0.14))
+
+
+r = Viewer (ps,displayArrows = True)
+
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.2])
+afftool.loadObstacleModel (packageName, ENV_NAME, ENV_PREFIX, r,reduceSizes=[0.17,0,0])
+#r.loadObstacleModel (packageName, "ground", "planning")
+afftool.visualiseAffordances('Support', r,r.color.lightYellow)
+r.addLandmark(r.sceneName,1)
+
+# Setting initial and goal configurations
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[3:7] = [1,0,0,0]
+q_init [0:3] = [0.05, 0.86, 0.61]; r (q_init)
+#q_init [0:3] = [0.05, 0.86, 0.59]; r (q_init)
+
+rbprmBuilder.setCurrentConfig (q_init)
+q_goal = q_init [::]
+
+q_goal [0:3] = [1.83, 0.86, 1.15]; r(q_goal)
+#q_goal [0:3] = [1.83, 0.86, 1.13]; r(q_goal)
+
+
+# Choosing a path optimizer
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+# Choosing RBPRM shooter and path validation methods.
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.01)
+# Choosing kinodynamic methods : 
+ps.selectSteeringMethod("RBPRMKinodynamic")
+ps.selectDistance("KinodynamicDistance")
+ps.addPathOptimizer("RandomShortcutDynamic")
+ps.addPathOptimizer("OrientedPathOptimizer")
+ps.selectPathPlanner("DynamicPlanner")
+
+#solve the problem :
+r(q_init)
+
+ps.client.problem.prepareSolveStepByStep()
+ps.client.problem.finishSolveStepByStep()
+
+
+q_far = q_init[::]
+q_far[2] = -3
+r(q_far)
+
+
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+pp.dt=0.03
+pp.displayVelocityPath(0)
+r.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
+
+
+
+
+
+"""
+camera = [0.6293167471885681,
+ -9.560577392578125,
+ 10.504343032836914,
+ 0.9323806762695312,
+ 0.36073973774909973,
+ 0.008668755181133747,
+ 0.02139890193939209]
+r.client.gui.setCameraTransform(0,camera)
+"""
+
+