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Commit ac3fbf51 authored by Pierre Fernbach's avatar Pierre Fernbach
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[clean] clean and add comment for talos scripts in demos

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script/scenarios/demos/talos_flatGround.py
View file @ ac3fbf51
......@@ -2,7 +2,6 @@ from hpp.corbaserver.rbprm.talos import Robot
from hpp.gepetto import Viewer
from tools.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."
......@@ -11,22 +10,21 @@ import time
pId = tp.ps.numberPaths() -1
fullBody = Robot ()
# Set the bounds for the root
fullBody.setJointBounds ("root_joint", [-5,5, -1.5, 1.5, 0.95, 1.05])
# add the 6 extraDof for velocity and acceleration (see *_path.py script)
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)
#load the viewer
v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
# load a reference configuration
q_ref = fullBody.referenceConfig[::]+[0]*6
q_init = q_ref[::]
fullBody.setReferenceConfig(q_ref)
fullBody.setCurrentConfig (q_init)
print "Generate limb DB ..."
......@@ -36,20 +34,15 @@ tStart = time.time()
nbSamples = 10000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01)
fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(rLegId, "./db/talos_rLeg_walk.db")
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep06", 0.01)
fullBody.runLimbSampleAnalysis(fullBody.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();
#define initial and final configurations :
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
......@@ -78,17 +71,14 @@ 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)
# specify the full body configurations as start and goal state of the problem
fullBody.setStartState(q_init,[fullBody.rLegId,fullBody.lLegId])
fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.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 = True,testReachability=False)
......
script/scenarios/demos/talos_flatGround_path.py
View file @ ac3fbf51
......@@ -6,41 +6,45 @@ import time
vMax = 0.3
aMax = 0.1
vMax = 0.3# linear velocity bound for the root
aMax = 0.1# linear acceleration bound for the root
extraDof = 6
mu=0.5
mu=0.5# coefficient of friction
# Creating an instance of the helper class, and loading the robot
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Robot ()
# Define bounds for the root : bounding box of the scenario
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 ...
# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
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])
# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
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
# Creating an instance of HPP problem solver
ps = ProblemSolver( rbprmBuilder )
# define parameters used by various methods :
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)
# sample only configuration with null velocity and acceleration :
ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
# initialize the viewer :
from hpp.gepetto import ViewerFactory
vf = ViewerFactory (ps)
# load the module to analyse the environnement and compute the possible contact surfaces
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
......@@ -53,14 +57,14 @@ q_init = rbprmBuilder.getCurrentConfig ();
q_init[3:7] = [0,0,0,1]
q_init [0:3] = [0, 0, 1.]
v (q_init)
ps.setInitialConfig (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.
......@@ -72,7 +76,7 @@ ps.selectSteeringMethod("RBPRMKinodynamic")
ps.selectDistance("Kinodynamic")
ps.selectPathPlanner("DynamicPlanner")
# Solve the planning problem :
t = ps.solve ()
print "Guide planning time : ",t
......@@ -85,7 +89,7 @@ pp.displayVelocityPath(0)
v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp(0)
# move the robot out of the view before computing the contacts
q_far = q_init[::]
q_far[2] = -2
v(q_far)
......
script/scenarios/demos/talos_navBauzil.py
View file @ ac3fbf51
......@@ -2,7 +2,6 @@ from hpp.corbaserver.rbprm.talos import Robot
from hpp.gepetto import Viewer
from tools.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."
......@@ -12,7 +11,7 @@ import time
pId = tp.ps.numberPaths() -1
fullBody = Robot ()
# Set the bounds for the root, take slightly larger bounding box than during root planning
root_bounds = tp.root_bounds[::]
root_bounds[0] -= 0.2
root_bounds[1] += 0.2
......@@ -21,15 +20,16 @@ root_bounds[3] += 0.2
root_bounds[-1] = 1.2
root_bounds[-2] = 0.8
fullBody.setJointBounds ("root_joint", root_bounds)
# add the 6 extraDof for velocity and acceleration (see *_path.py script)
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)
#load the viewer
v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
# load a reference configuration
q_ref = fullBody.referenceConfig[::]+[0,0,0,0,0,0]
q_init = q_ref[::]
fullBody.setReferenceConfig(q_ref)
......@@ -39,24 +39,20 @@ fullBody.setCurrentConfig (q_init)
print "Generate limb DB ..."
tStart = time.time()
# generate databases :
nbSamples = 10000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01)
fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(rLegId, "./db/talos_rLeg_walk.db")
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep08", 0.01)
fullBody.runLimbSampleAnalysis(fullBody.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();
#define initial and final configurations :
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
......@@ -73,11 +69,9 @@ 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)
......@@ -85,17 +79,14 @@ 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)
# specify the full body configurations as start and goal state of the problem
fullBody.setStartState(q_init,[fullBody.lLegId,fullBody.rLegId])
fullBody.setEndState(q_goal,[fullBody.lLegId,fullBody.rLegId])
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 = True,testReachability=False)
......
script/scenarios/demos/talos_navBauzil_hard.py
View file @ ac3fbf51
......@@ -2,19 +2,16 @@ from hpp.corbaserver.rbprm.talos import Robot
from hpp.gepetto import Viewer
from tools.display_tools import *
import time
from hpp.corbaserver.rbprm.rbprmstate import State,StateHelper
print "Plan guide trajectory ..."
import talos_navBauzil_hard_path as tp
print "Done."
import time
##
# Information to retrieve urdf and srdf files.
pId = tp.ps.numberPaths() -1
fullBody = Robot ()
# Set the bounds for the root, take slightly larger bounding box than during root planning
root_bounds = tp.root_bounds[::]
root_bounds[0] -= 0.2
root_bounds[1] += 0.2
......@@ -23,16 +20,18 @@ root_bounds[3] += 0.2
root_bounds[-1] = 1.2
root_bounds[-2] = 0.8
fullBody.setJointBounds ("root_joint", root_bounds)
# add the 6 extraDof for velocity and acceleration (see *_path.py script)
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)
#load the viewer
v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
q_ref = fullBody.referenceConfig[::] + [0]*6
# load a reference configuration
q_ref = fullBody.referenceConfig_legsApart[::] + [0]*6
q_init = q_ref[::]
fullBody.setReferenceConfig(q_ref)
fullBody.setCurrentConfig (q_init)
......@@ -40,23 +39,23 @@ fullBody.setCurrentConfig (q_init)
print "Generate limb DB ..."
tStart = time.time()
# generate databases :
nbSamples = 10000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01)
nbSamples = 20000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01)
fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(rLegId, "./db/talos_rLeg_walk.db")
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep08", 0.01)
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep06", 0.01)
fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(rLegId, "./db/talos_lLeg_walk.db")
#In this scenario, the arms are not used to create contact, but they may move to avoid collision.
fullBody.addNonContactingLimb(fullBody.lArmId,fullBody.larm,fullBody.lhand,5000)
fullBody.runLimbSampleAnalysis(fullBody.lArmId, "ReferenceConfiguration", True)
fullBody.addNonContactingLimb(fullBody.rArmId,fullBody.rarm,fullBody.rhand,5000)
fullBody.runLimbSampleAnalysis(fullBody.rArmId, "ReferenceConfiguration", True)
tGenerate = time.time() - tStart
print "Done."
print "Databases generated in : "+str(tGenerate)+" s"
q_0 = fullBody.getCurrentConfig();
#define initial and final configurations :
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
......@@ -73,11 +72,9 @@ 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)
......@@ -85,20 +82,18 @@ 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)
# specify the full body configurations as start and goal state of the problem
fullBody.setStartState(q_init,[fullBody.lLegId,fullBody.rLegId])
fullBody.setEndState(q_goal,[fullBody.lLegId,fullBody.rLegId])
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)
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True)
tInterpolateConfigs = time.time() - tStart
print "Done."
print "number of configs :", len(configs)
......
script/scenarios/demos/talos_navBauzil_hard_path.py
View file @ ac3fbf51
......@@ -5,45 +5,52 @@ from hpp.corbaserver import ProblemSolver
import time
vMax = 0.3
aMax = 0.1
vMax = 0.3 # linear velocity bound for the root
aMax = 0.1 # linear acceleration bound for the root
extraDof = 6
mu=0.5
mu=0.5 # coefficient of friction
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Robot ()
# Define bounds for the root : bounding box of the scenario
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])
# As this scenario only consider walking, we fix the DOF of the torso :
rbprmBuilder.setJointBounds ('torso_1_joint', [0,0])
rbprmBuilder.setJointBounds ('torso_2_joint', [0.006761,0.006761])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
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])
# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
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
# Creating an instance of HPP problem solver
ps = ProblemSolver( rbprmBuilder )
# define parameters used by various methods :
ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu)
# sample only configuration with null velocity and acceleration :
ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",50)
# initialize the viewer :
from hpp.gepetto import ViewerFactory
vf = ViewerFactory (ps)
# load the module to analyse the environnement and compute the possible contact surfaces
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
......@@ -56,14 +63,13 @@ v.addLandmark(v.sceneName,1)
q_init = rbprmBuilder.getCurrentConfig ();
q_init [0:3] = [-0.7,2,0.98]
v (q_init)
ps.setInitialConfig (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.
......@@ -75,7 +81,7 @@ ps.selectSteeringMethod("RBPRMKinodynamic")
ps.selectDistance("Kinodynamic")
ps.selectPathPlanner("DynamicPlanner")
# Solve the planning problem :
t = ps.solve ()
print "Guide planning time : ",t
......@@ -89,7 +95,7 @@ v.client.gui.setVisibility("path_1_root","ALWAYS_ON_TOP")
pp.dt = 0.01
pp(1)
# move the robot out of the view before computing the contacts
q_far = q_init[::]
q_far[2] = -2
v(q_far)
......
script/scenarios/demos/talos_navBauzil_path.py
View file @ ac3fbf51
......@@ -6,44 +6,51 @@ import time
vMax = 0.3
aMax = 0.1
vMax = 0.3# linear velocity bound for the root
aMax = 0.1 # linear acceleration bound for the root
extraDof = 6
mu=0.5
mu=0.5# coefficient of friction
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Robot()
# Define bounds for the root : bounding box of the scenario
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])
# As this scenario only consider walking, we fix the DOF of the torso :
rbprmBuilder.setJointBounds ('torso_1_joint', [0,0])
rbprmBuilder.setJointBounds ('torso_2_joint', [0.006761,0.006761])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
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])
# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
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
# Creating an instance of HPP problem solver
ps = ProblemSolver( rbprmBuilder )
# define parameters used by various methods :
ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu)
# sample only configuration with null velocity and acceleration :
ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",100)
# initialize the viewer :
from hpp.gepetto import ViewerFactory
vf = ViewerFactory (ps)
# load the module to analyse the environnement and compute the possible contact surfaces
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
......@@ -57,7 +64,7 @@ q_init = rbprmBuilder.getCurrentConfig ();
q_init [0:3] = [-0.9,1.5,0.98]
q_init[-6:-3] = [0.07,0,0]
v (q_init)
ps.setInitialConfig (q_init)
# set goal config
rbprmBuilder.setCurrentConfig (q_init)
q_goal = q_init [::]
......@@ -65,7 +72,7 @@ q_goal[0:3] = [2,2.6,0.98]
q_goal[-6:-3] = [0.1,0,0]
v(q_goal)
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
# Choosing RBPRM shooter and path validation methods.
......@@ -77,7 +84,7 @@ ps.selectSteeringMethod("RBPRMKinodynamic")
ps.selectDistance("Kinodynamic")
ps.selectPathPlanner("DynamicPlanner")
# Solve the planning problem :
t = ps.solve ()
print "Guide planning time : ",t
......@@ -91,7 +98,7 @@ v.client.gui.setVisibility("path_1_root","ALWAYS_ON_TOP")
pp.dt = 0.01
pp(1)
# move the robot out of the view before computing the contacts
q_far = q_init[::]
q_far[2] = -2
v(q_far)
......
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