Commit e603228a authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[demo] add hyq_slalom_debris scripts

parent 1b7fa0e1
from hpp.corbaserver.rbprm.hyq_contact6D import Robot
from hpp.gepetto import Viewer
from tools.display_tools import *
import time
print "Plan guide trajectory ..."
import hyq_slalom_debris_path as tp
print "Done."
import time
pId = tp.ps.numberPaths() -1
fullBody = Robot ()
# Set the bounds for the root
root_bounds = tp.root_bounds
root_bounds[4] -= 0.05
root_bounds[5] += 0.05
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]*6
q_init = q_ref[::]
fullBody.setReferenceConfig(q_ref)
fullBody.setCurrentConfig (q_init)
print "Generate limb DB ..."
tStart = time.time()
# generate databases :
nbSamples = 10000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
fullBody.addLimb(fullBody.rArmId,fullBody.rarm,fullBody.rhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
fullBody.addLimb(fullBody.lArmId,fullBody.larm,fullBody.lhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
for limbId in fullBody.limbNames :
fullBody.runLimbSampleAnalysis(limbId, "ReferenceConfiguration", True)
tGenerate = time.time() - tStart
print "Done."
print "Databases generated in : "+str(tGenerate)+" s"
#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
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]
fullBody.setStaticStability(True)
fullBody.setCurrentConfig (q_init)
fullBody.setCurrentConfig (q_goal)
v.addLandmark('hyq/base_link',0.3)
q_init[2] = fullBody.referenceConfig[2]
q_goal[2] = fullBody.referenceConfig[2]
v(q_init)
#q_init = fullBody.generateContacts(q_init, [0,0,1])
#q_goal = fullBody.generateContacts(q_goal, [0,0,1])
# specify the full body configurations as start and goal state of the problem
fullBody.setStartState(q_init,[fullBody.rLegId,fullBody.lArmId,fullBody.rArmId,fullBody.lLegId])
fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lArmId,fullBody.rArmId,fullBody.lLegId])
print "Generate contact plan ..."
tStart = time.time()
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True,testReachability = False)
tInterpolateConfigs = time.time() - tStart
print "Done."
print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
print "number of configs :", len(configs)
#raw_input("Press Enter to display the contact sequence ...")
#displayContactSequence(v,configs)
from hpp.corbaserver.rbprm.hyq_abstract import Robot
from hpp.gepetto import Viewer
from hpp.corbaserver import ProblemSolver
import time
vMax = 0.2# linear velocity bound for the root
aMax = 0.1# linear acceleration bound for the root
extraDof = 6
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
root_bounds = [-1.7,2.5, -0.2, 2, 0.63, 0.63]
rbprmBuilder.setJointBounds ("root_joint",root_bounds)
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom'])
rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hyq_lfleg_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
ps = ProblemSolver( rbprmBuilder )
# define parameters used by various methods :
ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax)
ps.setParameter("DynamicPlanner/sizeFootX",0.01)
ps.setParameter("DynamicPlanner/sizeFootY",0.01)
ps.setParameter("DynamicPlanner/friction",0.5)
ps.setParameter("Kinodynamic/forceOrientation",True)
# 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])
afftool.loadObstacleModel ("hpp-rbprm-corba", "slalom_debris", "planning", vf,reduceSizes=[0.05,0,0])
v = vf.createViewer(displayArrows = True)
#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
# Setting initial configuration
q_init = rbprmBuilder.getCurrentConfig ();
q_init [0:3] = [-1.5, 0, 0.63]
q_init[3:7] = [0,0,0,1]
q_init[-6] = 0.05
v (q_init)
ps.setInitialConfig (q_init)
# set goal config
rbprmBuilder.setCurrentConfig (q_init)
q_goal = q_init [::]
q_goal[0] = 2.2
v(q_goal)
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")
# Solve the planning problem :
t = ps.solve ()
print "Guide planning time : ",t
ps.optimizePath(1)
pid = ps.numberPaths()-1
# display solution :
from hpp.gepetto import PathPlayer
pp = PathPlayer (v)
pp.dt=0.1
#pp.displayVelocityPath(pid)
#v.client.gui.setVisibility("path_2_root","ALWAYS_ON_TOP")
pp.dt=0.01
#pp(0)
# 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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