[script] update talos kino script to new API

script/scenarios/demos/talos_flatGround_path.py

@@ -45,6 +45,14 @@ 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)

script/scenarios/demos/talos_navBauzil_hard_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)
+root_bounds = [-2.3,4.6,-1.5,3.3, 0.98, 0.98]
+rbprmBuilder.setJointBounds ("root_joint", root_bounds)
+rbprmBuilder.setJointBounds ('torso_1_joint', [0,0])
+rbprmBuilder.setJointBounds ('torso_2_joint', [0,0])
+
+# 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([-4.,4.,-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("Kinodynamic/forceOrientation",True)
+ps.setParameter("DynamicPlanner/sizeFootX",0.2)
+ps.setParameter("DynamicPlanner/sizeFootY",0.12)
+ps.setParameter("DynamicPlanner/friction",mu)
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",100)
+
+
+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", "floor_bauzil", "planning", vf)
+v = vf.createViewer(displayArrows = True)
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+v.addLandmark(v.sceneName,1)
+
+# Setting initial configuration
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [0:3] = [-0.7,2,0.98]
+v (q_init)
+
+# set goal config
+rbprmBuilder.setCurrentConfig (q_init)
+q_goal = q_init [::]
+q_goal[0:3] = [0.,-1.,0.98]
+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=0.1
+pp.displayVelocityPath(1)
+v.client.gui.setVisibility("path_1_root","ALWAYS_ON_TOP")
+pp.dt = 0.01
+pp(1)
+
+
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+

script/scenarios/demos/talos_navBauzil_path.py

@@ -21,7 +21,7 @@ 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)
-root_bounds = [-2.3,4.6,-1.5,3.3, 0.98, 0.98]
+root_bounds = [-1.5,3,0.,3.3, 0.98, 0.98]
 rbprmBuilder.setJointBounds ("root_joint", root_bounds)
 rbprmBuilder.setJointBounds ('torso_1_joint', [0,0])
 rbprmBuilder.setJointBounds ('torso_2_joint', [0,0])
@@ -42,12 +42,21 @@ indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.robot.getDimension
 ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
-#ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceOrientation",True)
 ps.setParameter("DynamicPlanner/sizeFootX",0.2)
 ps.setParameter("DynamicPlanner/sizeFootY",0.12)
 ps.setParameter("DynamicPlanner/friction",mu)
 ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",100)
 
+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)
@@ -57,7 +66,8 @@ afftool = AffordanceTool ()
 afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
 afftool.loadObstacleModel ("hpp-rbprm-corba", "floor_bauzil", "planning", vf)
 v = vf.createViewer(displayArrows = True)
-afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+v.addLandmark(v.sceneName,1)
 
 # Setting initial configuration
 q_init = rbprmBuilder.getCurrentConfig ();
@@ -92,10 +102,11 @@ 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)
+pp.dt=0.1
+pp.displayVelocityPath(1)
+v.client.gui.setVisibility("path_1_root","ALWAYS_ON_TOP")
+pp.dt = 0.01
+pp(1)
 
 
 q_far = q_init[::]