[script] update script for talos kinodynamic path and interp

script/scenarios/demos/talos_flatGround_interp.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+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)
+qfar=q_ref[::]
+qfar[2] = -5
+
+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

@@ -94,3 +94,7 @@ v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
 pp(0)
 
 
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+