Merge pull request #14 from pFernbach/topic/kino

Topic/kino

CMakeLists.txt

@@ -316,6 +316,7 @@ install(FILES
   data/meshes/cross_gap2.stl
   data/meshes/floor_bauzil.stl
   data/meshes/floor_bauzil_obstacles.stl
+  data/meshes/bauzil_stairs_noRamp_simplified.stl
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
   )
 

data/urdf/bauzil_stairs.urdf

@@ -12,7 +12,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_walk_stairs.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_stairs_noRamp_simplified.stl"/>
       </geometry>
     </collision>
   </link>

data/urdf/hyq/hyq_trunk_large.urdf

@@ -5,7 +5,7 @@
      <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
   </inertial>
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" scale="2 2 2"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
         <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_all.stl"/>
       </geometry>
@@ -14,9 +14,9 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" scale="5 5 5"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk_large2.stl" scale="1 1 1"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk_large.stl" />
       </geometry>
     </collision>
   </link>

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -106,6 +106,10 @@ module hpp
     void setReferenceConfig(in floatSeq referenceConfig)
       raises (Error);
 
+    /// set a reference position of the end effector for the given ROM
+    void setReferenceEndEffector(in string romName, in floatSeq ref)
+      raises (Error);
+
     /// Set Rom constraints for the configuration shooter
     /// a configuration will only be valid if all roms indicated
     /// are colliding with the environment.

script/dynamic/talos_table.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+import time
+from hpp.corbaserver import ProblemSolver
+from hpp.corbaserver.rbprm.rbprmstate import State,StateHelper
+import time
+
+
+rLegId = 'talos_rleg_rom'
+rLeg = 'leg_right_1_joint'
+rFoot = 'leg_right_6_joint'
+
+lLegId = 'talos_lleg_rom'
+lLeg = 'leg_left_1_joint'
+lFoot = 'leg_left_6_joint'
+
+rArmId = 'talos_rarm_rom'
+rArm = 'arm_right_1_joint'
+rHand = 'arm_right_7_joint'
+
+lArmId = 'talos_larm_rom'
+lArm = 'arm_left_1_joint'
+lHand = 'arm_left_7_joint'
+
+packageName = "talos_data"
+meshPackageName = "talos_data"
+rootJointType = "freeflyer"    
+urdfName = "talos"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+
+fullBody = FullBody ()
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("root_joint",  [-5,5, -1.5, 1.5, 0.95, 1.05])
+ps = ProblemSolver( fullBody )
+
+
+from hpp.gepetto import ViewerFactory
+vf = ViewerFactory (ps)
+vf.loadObstacleModel ("hpp-rbprm-corba", "table_140_70_73", "planning")
+
+
+
+q_ref = [
+        0.0, 0.0,  1.0232773,  0.0 ,  0.0, 0.0, 1,                   #Free flyer
+        0.0,  0.0, -0.411354,  0.859395, -0.448041, -0.001708,          #Left Leg
+        0.0,  0.0, -0.411354,  0.859395, -0.448041, -0.001708,          #Right Leg
+        0.0 ,  0.006761,                                                #Chest
+        0.25847 ,  0.173046, -0.0002, -0.525366, 0.0, -0.0,  0.1,-0.005,  #Left Arm
+        -0.25847 , -0.173046, 0.0002  , -0.525366, 0.0,  0.0,  0.1,-0.005,#Right Arm
+        0.,  0.]; # head
+
+q_init = q_ref[::]
+fullBody.setReferenceConfig(q_ref)
+
+
+tStart = time.time()
+# generate databases : 
+
+nbSamples = 1000
+rLegOffset = [0,-0.00018,-0.107]
+rLegOffset[2] += 0.006
+rLegNormal = [0,0,1]
+rLegx = 0.1; rLegy = 0.06
+fullBody.addLimb(rLegId,rLeg,rFoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "static", 0.01)
+fullBody.runLimbSampleAnalysis(rLegId, "ReferenceConfiguration", True)
+#fullBody.saveLimbDatabase(rLegId, "./db/talos_rLeg_walk.db")
+
+lLegOffset = [0,-0.00018,-0.107]
+lLegOffset[2] += 0.006
+lLegNormal = [0,0,1]
+lLegx = 0.1; lLegy = 0.06
+fullBody.addLimb(lLegId,lLeg,lFoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "static", 0.01)
+fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
+#fullBody.saveLimbDatabase(rLegId, "./db/talos_lLeg_walk.db")
+
+
+#rArmOffset = [0.055,-0.04,-0.13]
+rArmOffset = [-0.01,0.,-0.154]
+rArmNormal = [0,0,1]
+rArmx = 0.005; rArmy = 0.005
+fullBody.addLimb(rArmId,rArm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, "EFORT", 0.01)
+fullBody.runLimbSampleAnalysis(rArmId, "ReferenceConfiguration", True)
+
+
+"""
+lArmOffset = [0.055,0.04,-0.13]
+lArmNormal = [0,0,1]
+lArmx = 0.02; lArmy = 0.02
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, "EFORT", 0.01)
+fullBody.runLimbSampleAnalysis(larmId, "ReferenceConfiguration", True)
+"""
+
+tGenerate =  time.time() - tStart
+print "generate databases in : "+str(tGenerate)+" s"
+
+v = vf.createViewer(displayCoM=True)
+v(q_init)
+v.addLandmark(v.sceneName,0.5)
+v.addLandmark('talos/arm_right_7_link',0.1)
+q_init[0:2] = [-0.5,0.8]
+q_init[32] -=1.5 # right elbow
+v(q_init)
+
+# sphere = target 
+from display_tools import *
+createSphere('target',v,size=0.05,color=v.color.red)
+v.client.gui.setVisibility('target','ON')
+moveSphere('target',v,[0,0,0.5])
+
+# create contact : 
+fullBody.setStartState(q_init,[lLegId,rLegId])
+q_ref[0:3] = q_init[0:3]
+sref = State(fullBody,q=q_ref,limbsIncontact=[lLegId,rLegId])
+s0 = State(fullBody,q=q_init,limbsIncontact=[lLegId,rLegId])
+createSphere('s',v)
+p0 = [-0.25,0.5,0.75]
+#p1 = [-0,0.45,0.8]
+p = [0.1,0.5,0.75]
+moveSphere('s',v,p)
+s0_bis,success = StateHelper.addNewContact(sref,rArmId,p0,[0,0,1])
+#s0_bis2,success = StateHelper.addNewContact(s0_bis,rArmId,p1,[0,0,1])
+s1,success = StateHelper.addNewContact(s0_bis,rArmId,p,[0,0,1])
+assert(success)
+v(s1.q())
+
+#project com
+v(q_init)
+com_i = fullBody.getCenterOfMass()
+com_i[2] -= 0.03
+com_i[0] += 0.06
+createSphere("com",v)
+moveSphere("com",v,com_i)
+s1.projectToCOM(com_i)
+v(s1.q())
+s1_feet = State(fullBody,q=s1.q(),limbsIncontact=[lLegId,rLegId])
+
+s2,success = StateHelper.addNewContact(s0_bis,rArmId,p,[0,0,1])
+com=s2.getCenterOfMass()
+#com[0] += 0.03
+com[1] -= 0.06
+com[2] -= 0.02
+moveSphere("com",v,com)
+s2.projectToCOM(com)
+v(s2.q())
+
+q3=q_init[::]
+q3[20]=1.2
+s3_0 = State(fullBody,q=q3,limbsIncontact=[lLegId,rLegId])
+s3,success = StateHelper.addNewContact(s3_0,rArmId,p,[0,0,1])
+assert(success)
+com=s3.getCenterOfMass()
+#com[0] += 0.03
+com[1] -= 0.1
+com[2] -= 0.02
+moveSphere("com",v,com)
+s3.projectToCOM(com)
+v(s3.q())
+
+"""
+jointsName = [rFoot,lFoot,rHand]
+contactPos = []
+contactNormal = []
+pn = s1.getCenterOfContactForLimb(rLegId)
+contactPos += [pn[0]]
+contactNormal += [pn[1]]
+pn = s1.getCenterOfContactForLimb(lLegId)
+contactPos += [pn[0]]
+contactNormal += [pn[1]]
+pn = s1.getCenterOfContactForLimb(rArmId)
+contactPos += [pn[0]]
+contactNormal += [pn[1]]
+
+
+ps.client.problem.createStaticStabilityConstraint ('staticStability',
+     jointsName, contactPos, contactNormal,'root_joint')
+"""
+
+
+q2 = q_ref[::]
+
+
+

script/scenarios/demos/talos_flatGround.py

+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+from display_tools import *
+import time
+from hpp.corbaserver.rbprm.rbprmstate import State,StateHelper
+print "Plan guide trajectory ..."
+import talos_flatGround_path as tp
+print "Done."
+import time
+
+##
+#  Information to retrieve urdf and srdf files.
+packageName = "talos_data"
+meshPackageName = "talos_data"
+rootJointType = "freeflyer"    
+urdfName = "talos"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+
+rLegId = 'talos_rleg_rom'
+rleg = 'leg_right_1_joint'
+rfoot = 'leg_right_6_joint'
+
+lLegId = 'talos_lleg_rom'
+lleg = 'leg_left_1_joint'
+lfoot = 'leg_left_6_joint'
+
+rArmId = 'talos_rarm_rom'
+rarm = 'arm_right_1_joint'
+rhand = 'arm_right_7_joint'
+
+lArmId = 'talos_larm_rom'
+larm = 'arm_left_1_joint'
+lhand = 'arm_left_7_joint'
+
+
+pId = tp.ps.numberPaths() -1
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("root_joint",  [-5,5, -1.5, 1.5, 0.95, 1.05])
+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)
+v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
+
+
+q_ref = [
+        0.0, 0.0,  1.0232773,  0.0 ,  0.0, 0.0, 1.,                   #Free flyer
+        0.0,  0.0, -0.411354,  0.859395, -0.448041, -0.001708,          #Left Leg
+        0.0,  0.0, -0.411354,  0.859395, -0.448041, -0.001708,          #Right Leg
+        0.0 ,  0.006761,                                                #Chest
+        0.25847 ,  0.173046, -0.0002, -0.525366, 0.0, -0.0,  0.1,-0.005,  #Left Arm
+        -0.25847 , -0.173046, 0.0002  , -0.525366, 0.0,  0.0,  0.1,-0.005,#Right Arm
+        0.,  0.  ,                                                       #Head
+        0,0,0,0,0,0]; v (q_ref)
+
+q_init = q_ref[::]
+
+fullBody.setReferenceConfig(q_ref)
+
+fullBody.setCurrentConfig (q_init)
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases : 
+
+nbSamples = 10000
+rLegOffset = [0.,  -0.00018, -0.107]
+rLegOffset[2] += 0.006
+rLegNormal = [0,0,1]
+rLegx = 0.1; rLegy = 0.06
+fullBody.addLimb(rLegId,rleg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "fixedStep08", 0.01)
+fullBody.runLimbSampleAnalysis(rLegId, "ReferenceConfiguration", True)
+#fullBody.saveLimbDatabase(rLegId, "./db/talos_rLeg_walk.db")
+
+lLegOffset = [0.,  -0.00018, -0.107]
+lLegOffset[2] += 0.006
+lLegNormal = [0,0,1]
+lLegx = 0.1; lLegy = 0.06
+fullBody.addLimb(lLegId,lleg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "fixedStep08", 0.01)
+fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
+#fullBody.saveLimbDatabase(rLegId, "./db/talos_lLeg_walk.db")
+
+
+
+tGenerate =  time.time() - tStart
+print "Done."
+print "Databases generated in : "+str(tGenerate)+" s"
+
+
+q_0 = fullBody.getCurrentConfig(); 
+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]
+
+
+q_init[2] = q_ref[2]
+q_goal[2] = q_ref[2]
+
+
+fullBody.setStaticStability(True)
+fullBody.setCurrentConfig (q_init)
+v(q_init)
+
+fullBody.setCurrentConfig (q_goal)
+v(q_goal)
+
+# specifying the full body configurations as start and goal state of the problem
+v.addLandmark('talos/base_link',0.3)
+v(q_init)
+
+fullBody.setStartState(q_init,[rLegId,lLegId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer ( v)
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = False)
+tInterpolateConfigs = time.time() - tStart
+print "Done."
+print "number of configs :", len(configs)
+raw_input("Press Enter to display the contact sequence ...")
+displayContactSequence(v,configs)
+
+
+

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)
+
+p_lLeg = [-0.008846952891378526, 0.0848172440888579,-1.019272022956703]
+p_lLeg[0]=0. # assure symetry of dynamic constraints on flat ground
+p_rLeg = [-0.008846952891378526,-0.0848172440888579,-1.019272022956703]
+p_rLeg[0] = 0.
+p_lArm = [0.13028765672452458, 0.44360498616312666,-0.2881211563246389]
+p_rArm = [0.13028765672452458,- 0.44360498616312666,-0.2881211563246389]
+rbprmBuilder.setReferenceEndEffector('talos_lleg_rom',p_lLeg)
+rbprmBuilder.setReferenceEndEffector('talos_rleg_rom',p_rLeg)
+
+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)
+
+
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+

script/scenarios/demos/talos_navBauzil.py

+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+from display_tools import *
+import time
+from hpp.corbaserver.rbprm.rbprmstate import State,StateHelper
+print "Plan guide trajectory ..."
+import talos_navBauzil_path as tp
+print "Done."
+import time
+
+##
+#  Information to retrieve urdf and srdf files.
+packageName = "talos_data"
+meshPackageName = "talos_data"
+rootJointType = "freeflyer"    
+urdfName = "talos"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+
+rLegId = 'talos_rleg_rom'
+rleg = 'leg_right_1_joint'
+rfoot = 'leg_right_6_joint'
+
+lLegId = 'talos_lleg_rom'
+lleg = 'leg_left_1_joint'
+lfoot = 'leg_left_6_joint'
+
+rArmId = 'talos_rarm_rom'
+rarm = 'arm_right_1_joint'
+rhand = 'arm_right_7_joint'
+
+lArmId = 'talos_larm_rom'
+larm = 'arm_left_1_joint'
+lhand = 'arm_left_7_joint'
+
+
+pId = tp.ps.numberPaths() -1
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+root_bounds = tp.root_bounds[::]
+root_bounds[0] -= 0.2
+root_bounds[1] += 0.2
+root_bounds[2] -= 0.2
+root_bounds[3] += 0.2
+root_bounds[-1] = 1.2
+root_bounds[-2] = 0.8
+fullBody.setJointBounds ("root_joint",  root_bounds)
+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)
+v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
+
+
+q_ref = [
+        0.0, 0.0,  1.0232773,  0.0 ,  0.0, 0.0, 1.,                   #Free flyer
+        0.0,  0.0, -0.411354,  0.859395, -0.448041, -0.001708,          #Left Leg
+        0.0,  0.0, -0.411354,  0.859395, -0.448041, -0.001708,          #Right Leg
+        0.0 ,  0.006761,                                                #Chest
+        0.25847 ,  0.173046, -0.0002, -0.525366, 0.0, -0.0,  0.1,-0.005,  #Left Arm
+        -0.25847 , -0.173046, 0.0002  , -0.525366, 0.0,  0.0,  0.1,-0.005,#Right Arm
+        0.,  0.  ,                                                       #Head
+        0,0,0,0,0,0]; v (q_ref)
+
+q_init = q_ref[::]
+
+fullBody.setReferenceConfig(q_ref)
+fullBody.setCurrentConfig (q_init)
+
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases : 
+
+nbSamples = 10000
+rLegOffset = [0.,  -0.00018, -0.107]
+rLegOffset[2] += 0.006
+rLegNormal = [0,0,1]
+rLegx = 0.1; rLegy = 0.06
+fullBody.addLimb(rLegId,rleg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "fixedStep08", 0.01)
+fullBody.runLimbSampleAnalysis(rLegId, "ReferenceConfiguration", True)
+#fullBody.saveLimbDatabase(rLegId, "./db/talos_rLeg_walk.db")
+
+lLegOffset = [0.,  -0.00018, -0.107]
+lLegOffset[2] += 0.006
+lLegNormal = [0,0,1]
+lLegx = 0.1; lLegy = 0.06
+fullBody.addLimb(lLegId,lleg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "fixedStep08", 0.01)
+fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
+#fullBody.saveLimbDatabase(rLegId, "./db/talos_lLeg_walk.db")
+
+
+