From f2f1ef3a36b06ab68ef614558e2f42ec1c14c6b4 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Wed, 10 May 2017 18:32:51 +0200
Subject: [PATCH] working scale
---
CMakeLists.txt | 3 +
.../demos/siggraph_asia/plane_hrp2_interp.py | 2 +
.../demos/siggraph_asia/scale_hrp2_interp.py | 378 ++++++++++++++++++
.../demos/siggraph_asia/scale_hrp2_path.py | 114 ++++++
.../rbprm/tools/path_to_trajectory.py | 1 +
5 files changed, 498 insertions(+)
create mode 100644 script/scenarios/demos/siggraph_asia/scale_hrp2_interp.py
create mode 100644 script/scenarios/demos/siggraph_asia/scale_hrp2_path.py
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 93ce6bb..e32b7d7 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -93,6 +93,7 @@ install(FILES
data/urdf/car.urdf
data/urdf/polaris.urdf
data/urdf/siggraph_asia/down.urdf
+ data/urdf/siggraph_asia/scale.urdf
#~ data/urdf/scene2.urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
)
@@ -125,6 +126,7 @@ install(FILES
data/srdf/car.srdf
data/srdf/polaris.srdf
data/srdf/siggraph_asia/down.srdf
+ data/srdf/siggraph_asia/scale.srdf
#~ data/srdf/scene2.srdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
)
@@ -163,6 +165,7 @@ install(FILES
data/meshes/polaris.stl
data/meshes/polaris_reduced.stl
data/meshes/siggraph_asia/down.stl
+ data/meshes/siggraph_asia/scale.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
)
install(FILES
diff --git a/script/scenarios/demos/siggraph_asia/plane_hrp2_interp.py b/script/scenarios/demos/siggraph_asia/plane_hrp2_interp.py
index f221395..80404b0 100644
--- a/script/scenarios/demos/siggraph_asia/plane_hrp2_interp.py
+++ b/script/scenarios/demos/siggraph_asia/plane_hrp2_interp.py
@@ -56,6 +56,8 @@ larm = 'LARM_JOINT0'
lHand = 'LARM_JOINT5'
lArmOffset = [-0.05,-0.050,-0.050]
lArmNormal = [1,0,0]
+lArmOffset = [0,0,-0.1]
+lArmNormal = [0,0,1]
lArmx = 0.024; lArmy = 0.024
#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, 0.05)
diff --git a/script/scenarios/demos/siggraph_asia/scale_hrp2_interp.py b/script/scenarios/demos/siggraph_asia/scale_hrp2_interp.py
new file mode 100644
index 0000000..1057901
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/scale_hrp2_interp.py
@@ -0,0 +1,378 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+import scale_hrp2_path as tp
+import time
+
+
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 2.2])
+
+
+ps = tp.ProblemSolver( fullBody )
+r = tp.Viewer (ps, viewerClient=tp.r.client)
+
+#~ AFTER loading obstacles
+rLegId = 'hrp2_rleg_rom'
+rLeg = 'RLEG_JOINT0'
+rLegOffset = [0,-0.105,0,]
+rLegNormal = [0,1,0]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "manipulability", 0.1)
+
+lLegId = 'hrp2_lleg_rom'
+lLeg = 'LLEG_JOINT0'
+lLegOffset = [0,-0.105,0]
+lLegNormal = [0,1,0]
+lLegx = 0.09; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, "manipulability", 0.1)
+
+
+
+#~ AFTER loading obstacles
+larmId = 'hrp2_larm_rom'
+larm = 'LARM_JOINT0'
+lHand = 'LARM_JOINT5'
+lArmOffset = [-0.05,-0.050,-0.050]
+lArmNormal = [1,0,0]
+lArmOffset = [0,0,-0.105]
+lArmNormal = [0,0,1]
+lArmx = 0.024; lArmy = 0.024
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, 0.05)
+
+
+rarmId = 'hrp2_rarm_rom'
+rarm = 'RARM_JOINT0'
+rHand = 'RARM_JOINT5'
+rArmOffset = [0,0,-0.105]
+rArmNormal = [0,0,1]
+rArmx = 0.024; rArmy = 0.024
+#disabling collision for hook
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
+
+rKneeId = '0RKnee'
+rLeg = 'RLEG_JOINT0'
+rKnee = 'RLEG_JOINT3'
+rLegOffset = [0.105,0.055,0.017]
+rLegNormal = [-1,0,0]
+rLegx = 0.05; rLegy = 0.05
+#~ fullBody.addLimb(rKneeId, rLeg,rKnee,rLegOffset,rLegNormal, rLegx, rLegy, 10000, 0.01)
+#~
+lKneeId = '1LKnee'
+lLeg = 'LLEG_JOINT0'
+lKnee = 'LLEG_JOINT3'
+lLegOffset = [0.105,0.055,0.017]
+lLegNormal = [-1,0,0]
+lLegx = 0.05; lLegy = 0.05
+#~ fullBody.addLimb(lKneeId,lLeg,lKnee,lLegOffset,lLegNormal, lLegx, lLegy, 10000, 0.01)
+ #~
+#~
+fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
+fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
+#~ fullBody.runLimbSampleAnalysis(larmId, "jointLimitsDistance", True)
+#~ fullBody.runLimbSampleAnalysis(rarmId, "jointLimitsDistance", True)
+
+#~ fullBody.client.basic.robot.setJointConfig('LARM_JOINT0',[1])
+#~ fullBody.client.basic.robot.setJointConfig('RARM_JOINT0',[-1])
+
+q_0 = fullBody.getCurrentConfig();
+#~ fullBody.createOctreeBoxes(r.client.gui, 1, rarmId, q_0,)
+q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7]
+q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.q_goal[0:7]
+
+
+fullBody.setCurrentConfig (q_init)
+q_init = [
+ -0.15, -0.82, 0.55, 1.0, 0.0 , 0.0, 0.0, # Free flyer 0-6
+ 0.0, 0.0, 0.0, 0.0, # CHEST HEAD 7-10
+ 0.261799388, 0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, # LARM 11-17
+ 0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, # RARM 18-24
+ 0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0, # LLEG 25-30
+ 0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0, # RLEG 31-36
+ ]; r (q_init)
+
+fullBody.setCurrentConfig (q_goal)
+#~ r(q_goal)
+q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+q_init = fullBody.generateContacts(q_init, [0,0,1])
+#~ r(q_goal)
+
+#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId]) #,rarmId,larmId])
+fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
+#~
+#~ configs = fullBody.interpolate(0.1)
+#~ configs = fullBody.interpolate(0.15)
+i = 0;
+configs = []
+
+
+limbsCOMConstraints = { rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'},
+ lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'},
+ rarmId : {'file': "hrp2/RA_com.ineq", 'effector' : rHand} ,
+ larmId : {'file': "hrp2/LA_com.ineq", 'effector' : lHand} }
+
+#~ fullBody.limbRRTFromRootPath(0,len(configs)-1,0,2)
+from hpp.corbaserver.rbprm.tools.cwc_trajectory_helper import step, clean,stats, saveAllData, play_traj
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (fullBody.client.basic, r)
+
+def act(i, numOptim = 0, use_window = 0, friction = 0.5, optim_effectors = True, verbose = False, draw = False):
+ return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, 0.4, optim_effectors = optim_effectors, time_scale = 20., useCOMConstraints = True, use_window = use_window,
+ verbose = verbose, draw = draw)
+
+def play(frame_rate = 1./24.):
+ play_traj(fullBody,pp,frame_rate)
+
+def saveAll(name):
+ saveAllData(fullBody, r, name)
+
+
+def initConfig():
+ r.client.gui.setVisibility("hrp2_14", "ON")
+ tp.cl.problem.selectProblem("default")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+ r(q_init)
+
+def endConfig():
+ r.client.gui.setVisibility("hrp2_14", "ON")
+ tp.cl.problem.selectProblem("default")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+ r(q_goal)
+
+
+def rootPath():
+ tp.cl.problem.selectProblem("rbprm_path")
+ r.client.gui.setVisibility("hrp2_14", "OFF")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ r.client.gui.setVisibility("hyq", "OFF")
+ r.client.gui.setVisibility("hrp2_trunk_flexible", "ON")
+ tp.pp(0)
+ r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+ r.client.gui.setVisibility("hyq", "ON")
+ tp.cl.problem.selectProblem("default")
+
+def genPlan(stepsize=0.1):
+ r.client.gui.setVisibility("hrp2_14", "ON")
+ tp.cl.problem.selectProblem("default")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+ global configs
+ start = time.clock()
+ print "BEFORE"
+ configs = fullBody.interpolate(stepsize, 0, 2, True)
+ print "AFTER"
+ end = time.clock()
+ print "Contact plan generated in " + str(end-start) + "seconds"
+
+def contactPlan(step = 0.5):
+ r.client.gui.setVisibility("hrp2_14", "ON")
+ tp.cl.problem.selectProblem("default")
+ tp.r.client.gui.setVisibility("toto", "OFF")
+ tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+ for i in range(0,len(configs)):
+ r(configs[i]);
+ time.sleep(step)
+
+
+def a():
+ print "initial configuration"
+ initConfig()
+
+def b():
+ print "end configuration"
+ endConfig()
+
+def c():
+ print "displaying root path"
+ rootPath()
+
+def d(step=0.1):
+ print "computing contact plan"
+ genPlan(step)
+
+def e(step = 0.5):
+ print "displaying contact plan"
+ contactPlan(step)
+
+print "Root path WXXSD in " + str(tp.t) + " ms."
+
+d(0.005); e()
+
+print "Root path SDDSD in " + str(tp.t) + " ms."
+
+#~ from gen_data_from_rbprm import *
+#~
+#~ for config in configs:
+ #~ r(config)
+ #~ print(fullBody.client.basic.robot.getComPosition())
+#~
+
+#~ gen_and_save(fullBody,configs, "stair_bauzil_contacts_data")
+#~ main()
+
+from gen_data_from_rbprm import *
+
+from hpp.corbaserver.rbprm.tools.com_constraints import get_com_constraint
+
+#computing com bounds 0 and 1
+def __get_com(robot, config):
+ save = robot.getCurrentConfig()
+ robot.setCurrentConfig(config)
+ com = robot.getCenterOfMass()
+ robot.setCurrentConfig(save)
+ return com
+
+from numpy import matrix, asarray
+from numpy.linalg import norm
+from spline import bezier
+
+
+def __curveToWps(curve):
+ return asarray(curve.waypoints().transpose()).tolist()
+
+
+def __Bezier(wps, init_acc = [0.,0.,0.], end_acc = [0.,0.,0.], init_vel = [0.,0.,0.], end_vel = [0.,0.,0.]):
+ c = curve_constraints();
+ c.init_vel = matrix(init_vel);
+ c.end_vel = matrix(end_vel);
+ c.init_acc = matrix(init_acc);
+ c.end_acc = matrix(end_acc);
+ matrix_bezier = matrix(wps).transpose()
+ return __curveToWps(bezier(matrix_bezier, c))
+ #~ return __curveToWps(bezier(matrix_bezier))
+
+allpaths = []
+
+def play_all_paths():
+ for _, pid in enumerate(allpaths):
+ pp(pid)
+
+def play_all_paths_smooth():
+ for i, pid in enumerate(allpaths):
+ if i % 2 == 1 :
+ pp(pid)
+
+def play_all_paths_qs():
+ for i, pid in enumerate(allpaths):
+ if i % 2 == 0 :
+ pp(pid)
+
+def test(stateid = 1, path = False, use_rand = False, just_one_curve = False) :
+ com_1 = __get_com(fullBody, configs[stateid])
+ com_2 = __get_com(fullBody, configs[stateid+1])
+ data = gen_sequence_data_from_state(fullBody,stateid,configs, mu = 1.)
+ c_bounds_1 = get_com_constraint(fullBody, stateid, configs[stateid], limbsCOMConstraints, interm = False)
+ c_bounds_mid = get_com_constraint(fullBody, stateid, configs[stateid], limbsCOMConstraints, interm = True)
+ c_bounds_2 = get_com_constraint(fullBody, stateid, configs[stateid+1], limbsCOMConstraints, interm = False)
+ success, c_mid_1, c_mid_2 = solve_quasi_static(data, c_bounds = [c_bounds_1, c_bounds_2, c_bounds_mid], use_rand = use_rand)
+ #~ success, c_mid_1, c_mid_2 = solve_dyn(data, c_bounds = [c_bounds_1, c_bounds_2, c_bounds_mid], use_rand = use_rand)
+ #~ success, c_mid_1, c_mid_2 = solve_dyn(data, c_bounds = [c_bounds_1, c_bounds_2])
+
+ paths_ids = []
+ if path and success:
+ #~ fullBody.straightPath([c_mid_1[0].tolist(),c_mid_2[0].tolist()])
+ #~ fullBody.straightPath([c_mid_2[0].tolist(),com_2])
+ if just_one_curve:
+ bezier_0 = __Bezier([com_1,c_mid_1[0].tolist(),c_mid_2[0].tolist(),com_2])
+
+ p0 = fullBody.generateCurveTrajParts(bezier_0,[0.,0.1,0.9,1.])
+ print "p0", p0
+ #~ pp.displayPath(p0+1)
+ #~ pp.displayPath(p0+2)
+ pp.displayPath(p0)
+ paths_ids = [int(el) for el in fullBody.comRRTFromPos(stateid,p0+1,p0+2,p0+3)]
+ else:
+ bezier_0 = __Bezier([com_1,c_mid_1[0].tolist()] , end_acc = c_mid_1[1].tolist() , end_vel = [0.,0.,0.])
+ bezier_1 = __Bezier([c_mid_1[0].tolist(),c_mid_2[0].tolist()], end_acc = c_mid_2[1].tolist(), init_acc = c_mid_1[1].tolist(), init_vel = [0.,0.,0.], end_vel = [0.,0.,0.])
+ bezier_2 = __Bezier([c_mid_2[0].tolist(),com_2] , init_acc = c_mid_2[1].tolist(), init_vel = [0.,0.,0.])
+
+ p0 = fullBody.generateCurveTraj(bezier_0)
+ print "p0", p0
+ fullBody.generateCurveTraj(bezier_1)
+ fullBody.generateCurveTraj(bezier_2)
+ pp.displayPath(p0)
+ pp.displayPath(p0+1)
+ pp.displayPath(p0+2)
+ paths_ids = [int(el) for el in fullBody.comRRTFromPos(stateid,p0,p0+1,p0+2)]
+ #~ paths_ids = []
+ global allpaths
+ allpaths += paths_ids[:-1]
+ #~ allpaths += [paths_ids[-1]]
+ pp(paths_ids[-1])
+
+ #~ return success, paths_ids, c_mid_1, c_mid_2
+ return success, c_mid_1, c_mid_2, paths_ids
+#~ data = gen_sequence_data_from_state(fullBody,3,configs)
+
+
+
+def prepare_whole_interp(stateid, stateid_end):
+ all_points = []
+ allSuc = True
+ for i in range(stateid, stateid_end):
+ com_1 = __get_com(fullBody, configs[stateid])
+ success, c_mid_1, c_mid_2, paths_ids = test(i, False, True, False)
+ allSuc = success and allSuc
+ if not success:
+ break
+ all_points = all_points + [com_1, c_mid_1[0].tolist(), c_mid_2[0].tolist()]
+ all_points = all_points + [__get_com(fullBody, configs[stateid_end])]
+ if allSuc:
+ bezier_0 = __Bezier(all_points)
+ p0 = fullBody.generateCurveTraj(bezier_0)
+ pp.displayPath(p0)
+ num_paths = stateid_end - stateid
+ num_sub_paths = num_paths * 3
+ increment = 1. / float(num_paths)
+ partitions = [0.]
+ for i in range(0, num_paths):
+ dec = increment * float(i)
+ partitions += [dec + 0.01 * increment, dec + 0.99 * increment,dec + 1. * increment]
+ print "partitions", partitions, len(partitions)
+ p0 = fullBody.generateCurveTrajParts(bezier_0,partitions) +1
+ paths_ids = []
+ for i in range(0, num_paths):
+ print "***************************3i", p0+3*i
+ paths_ids += [int(el) for el in fullBody.comRRTFromPos(stateid + i,p0+3*i,p0+3*i+1,p0+3*i+2)]
+ #~ paths_ids = []
+ global allpaths
+ allpaths += paths_ids[:-1]
+ #~ pp(paths_ids[-1])
+#~ success, paths_ids, c_mid_1, c_mid_2 = test(0, True, True, False)
+#~ prepare_whole_interp(1, 2)
+
+#~ pp(29),pp(9),pp(17)
+from hpp.corbaserver.rbprm.tools.path_to_trajectory import *
+
+def gen(ine_curve =False):
+ #~ test(0, True, True, ine_curve)
+ #~ test(0, True, True, True)
+ #~ test(1, True, True, ine_curve)
+ #~ test(1, True, True, True)
+ test(2, True, True, ine_curve)
+ #~ test(2, True, True, True)
+ test(3, True, True, ine_curve)
+ #~ test(3, True, True, True)
+ test(4, True, True, ine_curve)
+ test(5, True, True, ine_curve)
+ a = gen_trajectory_to_play(fullBody, pp, allpaths, flatten([[0.1, 0.9, 0.1] for _ in range(len(allpaths) / 3)]))
+
+#~ pp(29),pp(9),pp(17)
+#~ gen(True)
diff --git a/script/scenarios/demos/siggraph_asia/scale_hrp2_path.py b/script/scenarios/demos/siggraph_asia/scale_hrp2_path.py
new file mode 100644
index 0000000..2f126ef
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/scale_hrp2_path.py
@@ -0,0 +1,114 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+from hpp.corbaserver import Client
+from hpp.corbaserver.robot import Robot as Parent
+
+class Robot (Parent):
+ rootJointType = 'freeflyer'
+ packageName = 'hpp-rbprm-corba'
+ meshPackageName = 'hpp-rbprm-corba'
+ # URDF file describing the trunk of the robot HyQ
+ urdfName = 'hrp2_trunk_flexible'
+ urdfSuffix = ""
+ srdfSuffix = ""
+ def __init__ (self, robotName, load = True):
+ Parent.__init__ (self, robotName, self.rootJointType, load)
+ self.tf_root = "base_footprint"
+ self.client.basic = Client ()
+ self.load = load
+
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk_flexible'
+urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 2.2])
+#~ rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
+#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
+#~ rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Lean'])
+#~ rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
+#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
+#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
+#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
+rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+q_init [0:3] = [-0.1, -0.82, 0.50]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0.1, -0.82, 0.648702]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+
+q_goal = q_init [::]
+q_goal [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
+q_goal [0:3] = [0.55 , -0.82, 1.5]; r (q_goal)
+#~ q_goal [0:3] = [1.2, -0.65, 1.1]; r (q_goal)
+
+#~ ps.addPathOptimizer("GradientBased")
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.setAffordanceConfig('Lean', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel (packageName, "scale", "planning", r)
+#~ afftool.analyseAll()
+afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+afftool.visualiseAffordances('Lean', r, [0, 0, 0.9])
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+#~ ps.solve ()
+t = ps.solve ()
+
+print t;
+if isinstance(t, list):
+ t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~
+#~ pp (2)
+#~ pp (0)
+
+#~ pp (1)
+#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
+#~ rbprmBuilder.exportPath (r, ps.client.problem, 1, 0.01, "stair_bauzil_hrp2_path.txt")
+
+cl = Client()
+cl.problem.selectProblem("rbprm_path")
+rbprmBuilder2 = Robot ("toto")
+ps2 = ProblemSolver( rbprmBuilder2 )
+cl.problem.selectProblem("default")
+cl.problem.movePathToProblem(1,"rbprm_path",rbprmBuilder.getAllJointNames())
+r2 = Viewer (ps2, viewerClient=r.client)
+r.client.gui.setVisibility("toto", "OFF")
+#~ r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+#~ r2(q_far)
diff --git a/src/hpp/corbaserver/rbprm/tools/path_to_trajectory.py b/src/hpp/corbaserver/rbprm/tools/path_to_trajectory.py
index 36d4ce0..f3bef9c 100644
--- a/src/hpp/corbaserver/rbprm/tools/path_to_trajectory.py
+++ b/src/hpp/corbaserver/rbprm/tools/path_to_trajectory.py
@@ -66,6 +66,7 @@ def gen_trajectory_to_play(robot, path_player, path_ids, total_time_per_paths, d
config_size_path = len(path_player.client.problem.configAtParam (path_id, 0))
if(config_size_path > config_size):
#~ if(i == 1 ):
+ print "follow"
res+= follow_trajectory_path(robot, path_player, path_id, total_time_per_paths[i], dt_framerate)
else:
res+= linear_interpolate_path(robot, path_player, path_id, total_time_per_paths[i], dt_framerate)
--
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