From ff1255fc7fdd5a1595f6a29616d15c83b4cf962f Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Sun, 21 May 2017 15:25:53 +0200
Subject: [PATCH] stairs working
---
CMakeLists.txt | 3 +
data/meshes/siggraph_asia/down.stl | Bin 2484 -> 1884 bytes
data/meshes/siggraph_asia/stairs_lower.stl | Bin 0 -> 6784 bytes
data/srdf/siggraph_asia/stairs_lower.srdf | 3 +
data/urdf/siggraph_asia/stairs_lower.urdf | 19 +
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl | 6 +
.../demos/siggraph_asia/bezier_traj.py | 26 +-
.../demos/siggraph_asia/hrp2_model.py | 8 +-
script/scenarios/demos/siggraph_asia/log.txt | 706 +
.../scenarios/demos/siggraph_asia/save_hole | 27932 ++++++++++++++++
.../demos/siggraph_asia/scale_hrp2_interp.py | 4 +-
.../siggraph_asia/spiderman/bezier_traj.py | 12 +-
.../spiderman/down_spidey_interp.py | 109 +
.../spiderman/down_spidey_path.py | 119 +
.../demos/siggraph_asia/spiderman/log.txt | 39 +
.../stair_bauzil_hrp2_interp.py | 213 +-
.../stair_bauzil_hrp2_interp2.py | 0
.../stair_bauzil_hrp2_interp3.py | 0
.../stair_bauzil_hrp2_path.py | 19 +-
.../stair_bauzil_hrp2_path2.py | 0
.../stair_bauzil_hrp2_path3.py | 0
script/scenarios/polaris/run.sh | 8 +
...dmissibleComPositionsFromEffectorSpidey.py | 114 +
script/tools/generateROMsPyerene.py | 79 +
src/hpp/corbaserver/rbprm/rbprmfullbody.py | 16 +-
.../rbprm/tools/obj_to_constraints.py | 8 +-
.../rbprm/tools/spiderman/LA_com.ineq | 92 +
.../rbprm/tools/spiderman/LL_com.ineq | 92 +
.../rbprm/tools/spiderman/RA_com.ineq | 92 +
.../rbprm/tools/spiderman/RL_com.ineq | 92 +
src/rbprmbuilder.impl.cc | 28 +
src/rbprmbuilder.impl.hh | 1 +
32 files changed, 29746 insertions(+), 94 deletions(-)
create mode 100644 data/meshes/siggraph_asia/stairs_lower.stl
create mode 100644 data/srdf/siggraph_asia/stairs_lower.srdf
create mode 100644 data/urdf/siggraph_asia/stairs_lower.urdf
create mode 100644 script/scenarios/demos/siggraph_asia/save_hole
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/down_spidey_interp.py
create mode 100644 script/scenarios/demos/siggraph_asia/spiderman/down_spidey_path.py
rename script/scenarios/demos/{ => siggraph_asia}/stair_bauzil_hrp2_interp.py (56%)
rename script/scenarios/demos/{ => siggraph_asia}/stair_bauzil_hrp2_interp2.py (100%)
rename script/scenarios/demos/{ => siggraph_asia}/stair_bauzil_hrp2_interp3.py (100%)
rename script/scenarios/demos/{ => siggraph_asia}/stair_bauzil_hrp2_path.py (84%)
rename script/scenarios/demos/{ => siggraph_asia}/stair_bauzil_hrp2_path2.py (100%)
rename script/scenarios/demos/{ => siggraph_asia}/stair_bauzil_hrp2_path3.py (100%)
create mode 100755 script/scenarios/polaris/run.sh
create mode 100644 script/tools/admissibleComPositionsFromEffectorSpidey.py
create mode 100644 script/tools/generateROMsPyerene.py
create mode 100644 src/hpp/corbaserver/rbprm/tools/spiderman/LA_com.ineq
create mode 100644 src/hpp/corbaserver/rbprm/tools/spiderman/LL_com.ineq
create mode 100644 src/hpp/corbaserver/rbprm/tools/spiderman/RA_com.ineq
create mode 100644 src/hpp/corbaserver/rbprm/tools/spiderman/RL_com.ineq
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 596763a..404c28b 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,6 +97,7 @@ install(FILES
data/urdf/siggraph_asia/scale_spidey.urdf
data/urdf/siggraph_asia/grasp.urdf
data/urdf/siggraph_asia/plane_hole.urdf
+ data/urdf/siggraph_asia/stairs_lower.urdf
data/urdf/siggraph_asia/wall.urdf
data/spiderman/urdf/SpidermanLFootSphere.urdf
data/spiderman/urdf/SpidermanLHandSphere.urdf
@@ -142,6 +143,7 @@ install(FILES
data/srdf/siggraph_asia/grasp.srdf
data/srdf/siggraph_asia/wall.srdf
data/srdf/siggraph_asia/plane_hole.srdf
+ data/srdf/siggraph_asia/stairs_lower.srdf
data/spiderman/srdf/SpidermanLFootSphere.srdf
data/spiderman/srdf/SpidermanLHandSphere.srdf
data/spiderman/srdf/SpidermanRFootSphere.srdf
@@ -192,6 +194,7 @@ install(FILES
data/meshes/siggraph_asia/grasp.stl
data/meshes/siggraph_asia/plane_hole.stl
data/meshes/siggraph_asia/wall.stl
+ data/meshes/siggraph_asia/stairs_lower.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
)
diff --git a/data/meshes/siggraph_asia/down.stl b/data/meshes/siggraph_asia/down.stl
index 69ef61583fa11e48c3b2e32873fa251e46f351b4..18c282ac7bc58bca5de50aef13313fc903721d1c 100644
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diff --git a/data/meshes/siggraph_asia/stairs_lower.stl b/data/meshes/siggraph_asia/stairs_lower.stl
new file mode 100644
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diff --git a/data/srdf/siggraph_asia/stairs_lower.srdf b/data/srdf/siggraph_asia/stairs_lower.srdf
new file mode 100644
index 0000000..8380468
--- /dev/null
+++ b/data/srdf/siggraph_asia/stairs_lower.srdf
@@ -0,0 +1,3 @@
+<?xml version="1.0"?>
+<robot name="stairs_lower">
+</robot>
diff --git a/data/urdf/siggraph_asia/stairs_lower.urdf b/data/urdf/siggraph_asia/stairs_lower.urdf
new file mode 100644
index 0000000..871663d
--- /dev/null
+++ b/data/urdf/siggraph_asia/stairs_lower.urdf
@@ -0,0 +1,19 @@
+<robot name="stairs_lower">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/stairs_lower.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/stairs_lower.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index de1e702..9bd4e3c 100755
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -123,6 +123,12 @@ module hpp
/// \param com target com
double projectStateToCOM(in unsigned short stateId, in floatSeq com) raises (Error);
+ /// Project a state into a COM
+ ///
+ /// \param stateId target state
+ /// \param com target com
+ double setConfigAtState(in unsigned short stateId, in floatSeq config) raises (Error);
+
/// Create a state and push it to the state array
///
/// \param q configuration
diff --git a/script/scenarios/demos/siggraph_asia/bezier_traj.py b/script/scenarios/demos/siggraph_asia/bezier_traj.py
index 8d6a0cc..16c2d05 100644
--- a/script/scenarios/demos/siggraph_asia/bezier_traj.py
+++ b/script/scenarios/demos/siggraph_asia/bezier_traj.py
@@ -307,7 +307,7 @@ def gen_several_states_partial(start = 0, len_con = 1, num_optim = 0, ine_curve
com_vel = init_vel[:]
com_acc = init_acc[:]
print "going from, to ", com_1, "->", com_2
- print "going from, to ", start, "->", start + len_con
+ #~ print "going from, to ", start, "->", start + len_con
allpoints = [com_1]
all_partitions = []
n_fail = 0;
@@ -336,7 +336,7 @@ def gen_several_states_partial(start = 0, len_con = 1, num_optim = 0, ine_curve
step = (1./ len_con)
idx = step * (i - start)
all_partitions += [idx +0.2*step,idx+0.8*step,idx+step]
- print all_partitions
+ print "[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[", all_partitions
allpoints+=[com_2]
bezier_0, curve = __Bezier(allpoints, init_acc = com_acc, init_vel = com_vel)
all_partitions = [0.] + all_partitions[:-3]
@@ -344,12 +344,7 @@ def gen_several_states_partial(start = 0, len_con = 1, num_optim = 0, ine_curve
com_acc = curve.derivate(all_partitions[-1],2)
com_vel = flatten(asarray(com_vel).transpose().tolist())
com_acc = flatten(asarray(com_acc).transpose().tolist())
- print "at", all_partitions[-1]
- print "com_vel", com_vel
- print "com_acc", com_acc
p0 = fullBody.generateCurveTrajParts(bezier_0,all_partitions) + 1
- print "n_fail ", n_fail
- print "generating super curve"
print all_partitions
#~ ppl.displayPath(p0-1)
ppl.displayPath(p0)
@@ -357,24 +352,23 @@ def gen_several_states_partial(start = 0, len_con = 1, num_optim = 0, ine_curve
ppl.displayPath(p0+2)
#~ ppl.displayPath(p0)
# now we need to project all states to the new com positions
- print "WTF ", len(all_partitions)
for k in range(3, len(all_partitions),3):
print "k ", k
print all_partitions[k]
new_com = flatten(asarray(curve(all_partitions[k]).transpose()).tolist())
- print "curve end ", curve(1.)
ok = False
#~ try:
sid = start+k/3
print "for state", sid
print "before project to new com ", new_com
print "before previous com", __get_com(fullBody, fullBody.getConfigAtState(sid))
+ #~ new_com[0]+=0.02
ok = fullBody.projectStateToCOM(sid, new_com)
- print "projection", ok
+ #~ print "projection", ok
if ok:
q1 = fullBody.getConfigAtState(sid)
ok = fullBody.isConfigValid(q1)[0]
- print "is config valud", ok
+ #~ print "is config valud", ok
#~ except:
#~ print "hpperr"
#~ break
@@ -382,10 +376,16 @@ def gen_several_states_partial(start = 0, len_con = 1, num_optim = 0, ine_curve
print "faield to project"
return [], com_vel, com_acc
j = 0;
- print "WTF2"
+ #~ print "WTF2"
if path:
for i in range(p0,p0+len_con*3-3,3):
- paths_ids = [int(el) for el in fullBody.comRRTFromPos(start+j,i,i+1,i+2,num_optim)]
+ try:
+ #~ print "FOR STATE ", start+j
+ #~ print "USING PATHS", i
+ paths_ids = [int(el) for el in fullBody.comRRTFromPos(start+j,i,i+1,i+2,num_optim)]
+ except:
+ print "COULD NOT SOLVE COMRRT"
+ return [], com_vel, com_acc
j += 1
global allpaths
allpaths += paths_ids[:-1]
diff --git a/script/scenarios/demos/siggraph_asia/hrp2_model.py b/script/scenarios/demos/siggraph_asia/hrp2_model.py
index e20212d..ad557b1 100644
--- a/script/scenarios/demos/siggraph_asia/hrp2_model.py
+++ b/script/scenarios/demos/siggraph_asia/hrp2_model.py
@@ -44,9 +44,9 @@ lArmOffset = [0,0,-0.1075]
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", False,grasp = True)
-#~ 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, "manipulability", 0.1, "_6_DOF", True)
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.1, "_6_DOF")
#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.1, "_6_DOF")
-fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.1, "_6_DOF")
rarmId = 'hrp2_rarm_rom'
@@ -57,8 +57,8 @@ 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", False,grasp = True)
-#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
-fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF")
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
+#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF")
fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
diff --git a/script/scenarios/demos/siggraph_asia/log.txt b/script/scenarios/demos/siggraph_asia/log.txt
index 938d970..189ee80 100644
--- a/script/scenarios/demos/siggraph_asia/log.txt
+++ b/script/scenarios/demos/siggraph_asia/log.txt
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diff --git a/script/scenarios/demos/siggraph_asia/save_hole b/script/scenarios/demos/siggraph_asia/save_hole
new file mode 100644
index 0000000..77b8d69
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/save_hole
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\ No newline at end of file
diff --git a/script/scenarios/demos/siggraph_asia/scale_hrp2_interp.py b/script/scenarios/demos/siggraph_asia/scale_hrp2_interp.py
index 7b0ef86..9acb9d8 100644
--- a/script/scenarios/demos/siggraph_asia/scale_hrp2_interp.py
+++ b/script/scenarios/demos/siggraph_asia/scale_hrp2_interp.py
@@ -39,9 +39,9 @@ fullBody.setCurrentConfig (q_goal)
q_goal = fullBody.generateContacts(q_goal, [0,0,1])
q_init = fullBody.generateContacts(q_init, [0,0,1])
-#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId]) #,rarmId,larmId])
+fullBody.setStartState(q_init,[rLegId,lLegId,rarmId]) #,rarmId,larmId])
#~ fullBody.setStartState(q_init,[rLegId,lLegId,larmId, rarmId]) #,rarmId,larmId])
-fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+#~ fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
configs = d(0.005); e()
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py b/script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py
index 16611ae..9247bcf 100644
--- a/script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py
+++ b/script/scenarios/demos/siggraph_asia/spiderman/bezier_traj.py
@@ -47,16 +47,16 @@ def play_all_paths_qs():
if i % 2 == 0 :
ppl(pid)
-def test(stateid = 1, path = False, use_rand = False, just_one_curve = False, num_optim = 0, effector = False) :
+def test(stateid = 1, path = False, use_rand = False, just_one_curve = False, num_optim = 0, effector = False, mu=0.5) :
com_1 = __get_com(fullBody, configs[stateid])
com_2 = __get_com(fullBody, configs[stateid+1])
createPtBox(viewer.client.gui, 0, com_1, 0.01, [0,1,1,1.])
createPtBox(viewer.client.gui, 0, com_2, 0.01, [0,1,1,1.])
- data = gen_sequence_data_from_state(fullBody,stateid,configs, mu = 0.5)
+ data = gen_sequence_data_from_state(fullBody,stateid,configs, mu = mu)
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, mu = 0.5)
+ 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, mu = mu)
#~ 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])
@@ -174,18 +174,18 @@ def test_ineq(stateid, constraints, n_samples = 10, color=[1,1,1,1.]):
#~ test_ineq(0, limbsCOMConstraints, 1000, [0,1,1,1])
-def gen(start = 0, len_con = 1, num_optim = 0, ine_curve =True, s = 1., effector = False):
+def gen(start = 0, len_con = 1, num_optim = 0, ine_curve =True, s = 1., effector = False, mu =0.5):
n_fail = 0;
for i in range (start, start+len_con):
viewer(configs[i])
- res = test(i, True, False, ine_curve,num_optim, effector)
+ res = test(i, True, False, ine_curve,num_optim, effector, mu)
if(not res[0]):
print "lp failed"
createPtBox(viewer.client.gui, 0, res[1][0], 0.01, [1,0,0,1.])
createPtBox(viewer.client.gui, 0, res[2][0], 0.01, [1,0,0,1.])
found = False
for j in range(10):
- res = test(i, True, True, ine_curve, num_optim, effector)
+ res = test(i, True, True, ine_curve, num_optim, effector, mu)
createPtBox(viewer.client.gui, 0, res[1][0], 0.01, [0,1,0,1.])
createPtBox(viewer.client.gui, 0, res[2][0], 0.01, [0,1,0,1.])
if res[0]:
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/down_spidey_interp.py b/script/scenarios/demos/siggraph_asia/spiderman/down_spidey_interp.py
new file mode 100644
index 0000000..59441bb
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/down_spidey_interp.py
@@ -0,0 +1,109 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+from hpp.gepetto import PathPlayer
+
+import down_spidey_path as path_planner
+#~ import hrp2_model as model
+import time
+tp = path_planner
+
+
+
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "spiderman"
+urdfSuffix = ""
+srdfSuffix = ""
+#~ V0list = tp.V0list
+#~ Vimplist = tp.Vimplist
+base_joint_xyz_limits = tp.base_joint_xyz_limits
+
+fullBody = FullBody ()
+robot = fullBody.client.basic.robot
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", base_joint_xyz_limits)
+
+#psf = ProblemSolver(fullBody); rr = Viewer (psf); gui = rr.client.gui
+ps = path_planner.ProblemSolver( fullBody )
+r = path_planner.Viewer (ps, viewerClient=path_planner.r.client)
+rr = r
+#~ psf = tp.ProblemSolver( fullBody ); rr = tp.Viewer (psf); gui = rr.client.gui
+pp = PathPlayer (fullBody.client.basic, rr); pp.speed = 0.6
+q_0 = fullBody.getCurrentConfig(); rr(q_0)
+
+
+rLegId = 'RFoot'
+lLegId = 'LFoot'
+rarmId = 'RHand'
+larmId = 'LHand'
+rfoot = 'SpidermanRFootSphere'
+lfoot = 'SpidermanLFootSphere'
+lHand = 'SpidermanLHandSphere'
+rHand = 'SpidermanRHandSphere'
+nbSamples = 50000; x = 0.03; y = 0.08
+fullBody.addLimb(rLegId,'RThigh_rx','SpidermanRFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(lLegId,'LThigh_rx','SpidermanLFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+ #~ fullBody.addLimb(rarmId,'RHumerus_rx','SpidermanRHandSphere',[0,0,0],[0,-1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+ #~ fullBody.addLimb(larmId,'LHumerus_rx','SpidermanLHandSphere',[0,0,0],[0,1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+#~
+fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
+fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
+
+
+
+limbsCOMConstraints = { rLegId : {'file': "spiderman/RL_com.ineq", 'effector' : rfoot},
+ lLegId : {'file': "spiderman/LL_com.ineq", 'effector' : rHand},
+ rarmId : {'file': "spiderman/RA_com.ineq", 'effector' : rHand},
+ larmId : {'file': "spiderman/LA_com.ineq", 'effector' : lHand} }
+
+
+ps = path_planner.ProblemSolver( fullBody )
+r = path_planner.Viewer (ps, viewerClient=path_planner.r.client)
+#~ fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 2.2])
+fullBody.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 6])
+pp = PathPlayer (fullBody.client.basic, r)
+
+from plan_execute import a, b, c, d, e, init_plan_execute
+init_plan_execute(fullBody, r, path_planner, pp)
+
+q_0 = fullBody.getCurrentConfig();
+q_init = fullBody.getCurrentConfig(); q_init[0:7] = path_planner.q_init[0:7]
+q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = path_planner.q_goal[0:7]
+
+
+#~ fullBody.setCurrentConfig (q_init)
+#~ q_init = [
+ #~ -0.05, -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)
+q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+q_init = fullBody.generateContacts(q_init, [0,0,1])
+
+#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId]) #,rarmId,larmId])
+#~ fullBody.setStartState(q_init,[rLegId,lLegId,larmId, rarmId]) #,rarmId,larmId])
+fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
+
+configs = d(0.005); e()
+
+fb = fullBody
+from bezier_traj import *
+
+fullBody = fb
+init_bezier_traj(fullBody, r, pp, configs, limbsCOMConstraints)
+#~ AFTER loading obstacles
+
+
+#~ test_ineq(0,{ rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'}}, 1000, [1,0,0,1])
+#~ test_ineq(0,{ lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'}}, 1000, [0,0,1,1])
+#~ gen(0,1)
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/down_spidey_path.py b/script/scenarios/demos/siggraph_asia/spiderman/down_spidey_path.py
new file mode 100644
index 0000000..5775e1b
--- /dev/null
+++ b/script/scenarios/demos/siggraph_asia/spiderman/down_spidey_path.py
@@ -0,0 +1,119 @@
+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 = 'spiderman_trunk'
+urdfNameRoms = ['SpidermanLFootSphere','SpidermanRFootSphere','SpidermanLHandSphere','SpidermanRHandSphere']
+urdfSuffix = ""
+srdfSuffix = ""
+ecsSize = 4
+base_joint_xyz_limits = [-10, 10, -10, 15, 0, 10]
+
+rbprmBuilder = Builder () # RBPRM
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [-1,3, -1, 1, 0, 6])
+rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
+rbprmBuilder.setFilter(urdfNameRoms)
+affordanceType = ['Support']
+affordanceTypeHand = ['Support','Lean']
+rbprmBuilder.setAffordanceFilter('SpidermanLFootSphere', affordanceType)
+rbprmBuilder.setAffordanceFilter('SpidermanRFootSphere', affordanceType)
+rbprmBuilder.setAffordanceFilter('SpidermanLHandSphere', affordanceTypeHand)
+rbprmBuilder.setAffordanceFilter('SpidermanRHandSphere', affordanceTypeHand)
+#~ rbprmBuilder.setContactSize (0.03,0.08)
+#~ rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(ecsSize)
+#~ rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,-3.14,3.14])
+#~
+#~ 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., 0, 0.9]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_init [0:3] = [0.19999999999999996, -0.82, 1.0];
+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] = [0.9, 0, 0.50]; r (q_goal)
+#~ q_goal [0:3] = [3, -0.82, 6]; 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_spidey", "planning", r)
+afftool.loadObstacleModel (packageName, "down", "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("spiderman_trunk", "OFF")
+#~ r.client.gui.setVisibility("spiderman_trunk", "ON")
+#~ r2(q_far)
diff --git a/script/scenarios/demos/siggraph_asia/spiderman/log.txt b/script/scenarios/demos/siggraph_asia/spiderman/log.txt
index 2b3f045..b60b32c 100644
--- a/script/scenarios/demos/siggraph_asia/spiderman/log.txt
+++ b/script/scenarios/demos/siggraph_asia/spiderman/log.txt
@@ -24,3 +24,42 @@ path computation 4
path computation 1
path computation 1
path computation 1
+path computation 0
+path computation 0
+path computation 0
+path computation 0
+path computation 23
+path computation 1
+path computation 1
+path computation 1
+path computation 0
+path computation 1
+path computation 2
+path computation 1
+path computation 3
+path computation 1
+path computation 2
+path computation 0
+path computation 3
+path computation 4
+path computation 2
+path computation 1
+path computation 1
+path computation 1
+path computation 3
+path computation 3
+path computation 1
+path computation 1
+path computation 1
+path computation 2
+path computation 1
+path computation 3
+path computation 1
+path computation 1
+path computation 1
+path computation 1
+path computation 1
+path computation 1
+path computation 4
+path computation 1
+path computation 4
diff --git a/script/scenarios/demos/stair_bauzil_hrp2_interp.py b/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp.py
similarity index 56%
rename from script/scenarios/demos/stair_bauzil_hrp2_interp.py
rename to script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp.py
index 82c30c1..024e7e6 100755
--- a/script/scenarios/demos/stair_bauzil_hrp2_interp.py
+++ b/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp.py
@@ -19,70 +19,47 @@ srdfSuffix = ""
fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
-fullBody.setJointBounds ("base_joint_xyz", [-0.135,2, -1, 1, 0, 2.2])
+fullBody.setJointBounds ("base_joint_xyz", [-0.135,2.5, -1, 1, 0, 2.2])
ps = tp.ProblemSolver( fullBody )
r = tp.Viewer (ps, viewerClient=tp.r.client)
-#~ AFTER loading obstacles
-rLegId = '0rLeg'
+rLegId = 'hrp2_rleg_rom'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,0,-0.105]
-rLegNormal = [0,0,1]
+rLegNormal = [0,0,1]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "manipulability", 0.1)
-
-lLegId = '1lLeg'
-lLeg = 'LLEG_JOINT0'
+
+lLegId = 'hrp2_lleg_rom'
+lLeg = 'LLEG_JOINT0'
+lLegx = 0.09; lLegy = 0.05
lLegOffset = [0,0,-0.105]
-lLegNormal = [0,0,1]
-lLegx = 0.09; lLegy = 0.05
+lLegNormal = [0,0,1]
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, "manipulability", 0.1)
-rarmId = '3Rarm'
+#~ AFTER loading obstacles
+larmId = 'hrp2_larm_rom'
+larm = 'LARM_JOINT0'
+lHand = 'LARM_JOINT5'
+lArmOffset = [0,0,-0.1075]
+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", False,grasp = True)
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
+
+
+rarmId = 'hrp2_rarm_rom'
rarm = 'RARM_JOINT0'
rHand = 'RARM_JOINT5'
rArmOffset = [0,0,-0.1075]
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", 0.05, "_6_DOF", True)
-fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.05)
-
-
-#~ value [(2.22045e-16 1 -3.92523e-17)(1 2.22045e-16 3.92523e-17)(3.92523e-17 -3.92523e-17 -1)]
-#~ invvalue [(2.22045e-16 1 3.92523e-17)(1 2.22045e-16 -3.92523e-17)(-3.92523e-17 3.92523e-17 -1)]
-
-#~ value [0 1 0)(1 0 0)(0 0 -1)]
-#~ invvalue [(4.44089e-16 1 -1.17757e-16)(1 7.77156e-16 -1.96262e-16)(-1.96262e-16 -1.17757e-16 -1)]
-
+#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF", False,grasp = True)
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
-
-#~ AFTER loading obstacles
-larmId = '4Larm'
-larm = 'LARM_JOINT0'
-lHand = 'LARM_JOINT5'
-lArmOffset = [-0.05,-0.050,-0.050]
-lArmNormal = [1,0,0]
-lArmx = 0.024; lArmy = 0.024
-#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, 0.05)
-
-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)
@@ -113,16 +90,14 @@ q_goal = fullBody.generateContacts(q_goal, [0,0,1])
#~ r(q_goal)
#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId]) #,rarmId,larmId])
-fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+#~ fullBody.setStartState(q_init,[rLegId,lLegId]) #,rarmId,larmId])
+fullBody.setStartState(q_init,[rLegId,lLegId])#,larmId])
fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
-#~
-#~ configs = fullBody.interpolate(0.1)
-#~ configs = fullBody.interpolate(0.15)
i = 0;
configs = []
#~ fullBody.draw(configs[i],r); i=i+1; i-1
-r.loadObstacleModel ('hpp-rbprm-corba', "stair_bauzil", "contact")
+#~ r.loadObstacleModel ('hpp-rbprm-corba', "stair_bauzil", "contact")
#~ fullBody.exportAll(r, configs, 'stair_bauzil_hrp2_robust_2');
#~ fullBody.client.basic.robot.setJointConfig('LLEG_JOINT0',[-1])
#~ q_0 = fullBody.getCurrentConfig();
@@ -195,7 +170,7 @@ def genPlan(stepsize=0.1):
tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
global configs
start = time.clock()
- configs = fullBody.interpolate(stepsize, 1, 2, False)
+ configs = fullBody.interpolate(stepsize, 1, 2, True)
end = time.clock()
print "Contact plan generated in " + str(end-start) + "seconds"
@@ -230,8 +205,8 @@ def e(step = 0.5):
contactPlan(step)
print "Root path generated in " + str(tp.t) + " ms."
+d(0.1); e(0.01)
-d(0.05); e(0.01)
print "Root path generated in " + str(tp.t) + " ms."
@@ -245,5 +220,139 @@ print "Root path generated in " + str(tp.t) + " ms."
#~ gen_and_save(fullBody,configs, "stair_bauzil_contacts_data")
#~ main()
+#~ configs = d(0.005); e()
+qs = configs
+fb = fullBody
+ttp = tp
+from bezier_traj import *
+init_bezier_traj(fb, r, pp, qs, limbsCOMConstraints)
+#~ AFTER loading obstacles
+configs = qs
+fullBody = fb
+tp = ttp
+
+#~ test_ineq(0,{ rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'}}, 1000, [1,0,0,1])
+#~ test_ineq(0,{ lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'}}, 1000, [0,0,1,1])
+#~ gen(0,1)
+
+com_vel = [0.,0.,0.]
+com_acc = [0.,0.,0.]
+
+vels = []
+accs = []
+
+#~ test_ineq(0,{ rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'}}, 1000, [1,0,0,1])
+#~ test_ineq(0,{ lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'}}, 1000, [0,0,1,1])
+#~ gen(0,1)
+
+path = []
+a_s = []
+def go(sid, rg = 2, num_optim = 0, mu = 0.6, window = 2, s = None):
+ global com_vel
+ global com_acc
+ global vels
+ global accs
+ global path
+ global a_s
+ a = []
+ for l in range(sid,sid+rg):
+ print "STATE ", l
+ if s == None:
+ s = max(norm(array(configs[sid+1]) - array(configs[sid])), 1.) * 0.8
+ a,com_vel,com_acc = gen_several_states_partial(l,window,mu=mu,num_optim=num_optim, s=s,init_vel=com_vel, init_acc=com_acc, path=True)
+ a_s+=[a]
+ vels += [com_vel[:]]
+ accs += [com_acc[:]]
+ print "STATE ", sid+rg
+ #~ path,com_vel,com_acc = gen_several_states(sid+rg,1,mu=mu,num_optim=num_optim, s=s,init_vel=com_vel, init_acc=com_acc)
+ vels += [com_vel[:]]
+ accs += [com_acc[:]]
+ return a
+
+def go_stop(sid, rg = 2, num_optim = 0, mu = 0.6, window = 2, s = None):
+ global com_vel
+ global com_acc
+ global vels
+ global accs
+ global path
+ global a_s
+ a = []
+ for l in range(sid,sid+rg):
+ print "STATE ", l
+ if s == None:
+ s = max(norm(array(configs[sid+1]) - array(configs[sid])), 1.) * 0.8
+ a,com_vel,com_acc = gen_several_states_partial(l,window,mu=mu,num_optim=num_optim, s=s,init_vel=com_vel, init_acc=com_acc, path=True)
+ a_s+=[a]
+ vels += [com_vel[:]]
+ accs += [com_acc[:]]
+ print "STATE ", sid+rg
+ a,com_vel,com_acc = gen_several_states(sid+rg,1,mu=mu,num_optim=num_optim, s=s,init_vel=com_vel, init_acc=com_acc)
+ a_s+=[a]
+ vels += [com_vel[:]]
+ accs += [com_acc[:]]
+ return a
+
+def go0(sid, rg, num_optim = 0, mu = 0.6, s =None):
+ global com_vel
+ global com_acc
+ global vels
+ global accs
+ global path
+ if s == None:
+ s = max(norm(array(configs[sid+1]) - array(configs[sid])), 1.) * 1.5
+ print "$$$$$$$$$$$$$$$ S $$$$$$$$ *********************444444444444444444444444444 ", s
+ for i in range(rg):
+ path = gen(sid+i,1,mu=mu,num_optim=num_optim, s=s)
+ return path
+
+def go2(sid, rg = 1, num_optim = 0, mu = 0.5, t =2, s =None):
+ global com_vel
+ global com_acc
+ global vels
+ global accs
+ global path
+ for i in range(rg):
+ if s == None:
+ s = max(norm(array(configs[sid+i+1]) - array(configs[sid+i])), 1.) * 0.6
+ print "$$$$$$$$$$$$$$$ S $$$$$$$$ ", s
+ path,com_vel,com_acc = gen_several_states(sid+i,sid+i+t,mu=mu,num_optim=num_optim, s=s,init_vel=com_vel, init_acc=com_acc)
+ vels += [com_vel[:]]
+ accs += [com_acc[:]]
+ return path
+
+#~ a = go2(0, s = 1)
+#~ a = go2(0, num_optim=0, s = 1.2, mu=0.6)
+#~ a = go2(2, num_optim=0, s = 1.2, mu=0.6)
+#~ a = go2(4, num_optim=3, mu=0.6)
+
+def reset():
+ global com_vel
+ global com_acc
+ global vels
+ global accs
+ global a_s
+ global path
+ com_vel = [0.,0.,0.]
+ com_acc = [0.,0.,0.]
+ clean_path();
+ vels = []
+ accs = []
+ path = []
+ a_s = []
+ for i, config in enumerate(configs):
+ fullBody.setConfigAtState(i,config)
+
+#~ a = go(0,6,0,mu =2)
+#~ a = go0(0,7,10,mu =2)
+#~ a = go0(0,7,10,mu =2)
+
+#~ a = go_stop(1,2)
+#~ a = go_stop(1,2); a = go_stop(4,1); a = go_stop(6,1)
+#~ a = go_stop(0,2); a = go_stop(3,1); a = go_stop(5,1)
+#~ a = go_stop(0,1,3);
+#~ a = go_stop(2,1,3);
+#~ a = go_stop(4,1,3);
+#~ a = go_stop(6,1,3);
+
diff --git a/script/scenarios/demos/stair_bauzil_hrp2_interp2.py b/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp2.py
similarity index 100%
rename from script/scenarios/demos/stair_bauzil_hrp2_interp2.py
rename to script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp2.py
diff --git a/script/scenarios/demos/stair_bauzil_hrp2_interp3.py b/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp3.py
similarity index 100%
rename from script/scenarios/demos/stair_bauzil_hrp2_interp3.py
rename to script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_interp3.py
diff --git a/script/scenarios/demos/stair_bauzil_hrp2_path.py b/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path.py
similarity index 84%
rename from script/scenarios/demos/stair_bauzil_hrp2_path.py
rename to script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path.py
index 17ed92b..dff7e74 100755
--- a/script/scenarios/demos/stair_bauzil_hrp2_path.py
+++ b/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path.py
@@ -29,11 +29,12 @@ srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
-rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
-#~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
-rbprmBuilder.setAffordanceFilter('3Rarm', ['Support'])
-rbprmBuilder.setAffordanceFilter('0rLeg', ['Support',])
-rbprmBuilder.setAffordanceFilter('1lLeg', ['Support'])
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2.5, -1, 1, 0, 2.2])
+rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+#~ rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_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)
@@ -56,8 +57,8 @@ q_init [0:3] = [0.1, -0.82, 0.648702]; rbprmBuilder.setCurrentConfig (q_init); r
q_goal = q_init [::]
q_goal [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
-q_goal [0:3] = [1.49, -0.65, 1.25]; r (q_goal)
-#~ q_goal [0:3] = [1.2, -0.65, 1.1]; r (q_goal)
+#~ q_goal [0:3] = [1.49, -0.65, 1.25]; r (q_goal)
+q_goal [0:3] = [2.1, -0.82, 1.0]; r (q_goal)
#~ ps.addPathOptimizer("GradientBased")
ps.addPathOptimizer("RandomShortcut")
@@ -67,7 +68,7 @@ ps.addGoalConfig (q_goal)
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel (packageName, "stair_bauzil", "planning", r)
+afftool.loadObstacleModel (packageName, "stairs_lower", "planning", r)
#~ afftool.analyseAll()
#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
#~ afftool.visualiseAffordances('Lean', r, [0, 0, 0.9])
@@ -104,5 +105,5 @@ 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")
+#~ r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
#~ r2(q_far)
diff --git a/script/scenarios/demos/stair_bauzil_hrp2_path2.py b/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path2.py
similarity index 100%
rename from script/scenarios/demos/stair_bauzil_hrp2_path2.py
rename to script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path2.py
diff --git a/script/scenarios/demos/stair_bauzil_hrp2_path3.py b/script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path3.py
similarity index 100%
rename from script/scenarios/demos/stair_bauzil_hrp2_path3.py
rename to script/scenarios/demos/siggraph_asia/stair_bauzil_hrp2_path3.py
diff --git a/script/scenarios/polaris/run.sh b/script/scenarios/polaris/run.sh
new file mode 100755
index 0000000..c249455
--- /dev/null
+++ b/script/scenarios/polaris/run.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+gepetto-viewer-server &
+hpp-rbprm-server &
+ipython -i --no-confirm-exit ./$1
+
+pkill -f 'gepetto-viewer-server'
+pkill -f 'hpp-rbprm-server'
diff --git a/script/tools/admissibleComPositionsFromEffectorSpidey.py b/script/tools/admissibleComPositionsFromEffectorSpidey.py
new file mode 100644
index 0000000..af71b15
--- /dev/null
+++ b/script/tools/admissibleComPositionsFromEffectorSpidey.py
@@ -0,0 +1,114 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+
+import quaternion as quat
+
+
+
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "spiderman"
+urdfSuffix = ""
+srdfSuffix = ""
+
+fullBody = FullBody ()
+robot = fullBody.client.basic.robot
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", [-20,20, -20, 20, -20, 20])
+
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+nbSamples = 1
+
+
+ps = ProblemSolver( fullBody )
+
+
+rLegId = 'RFoot'
+lLegId = 'LFoot'
+rarmId = 'RHand'
+larmId = 'LHand'
+rfoot = 'SpidermanRFootSphere'
+lfoot = 'SpidermanLFootSphere'
+lHand = 'SpidermanLHandSphere'
+rHand = 'SpidermanRHandSphere'
+nbSamples = 50000; x = 0.03; y = 0.08
+fullBody.addLimb(rLegId,'RThigh_rx','SpidermanRFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(lLegId,'LThigh_rx','SpidermanLFootSphere',[0,0,0],[0,0,1], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(rarmId,'RHumerus_rx','SpidermanRHandSphere',[0,0,0],[0,-1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+fullBody.addLimb(larmId,'LHumerus_rx','SpidermanLHandSphere',[0,0,0],[0,1,0], x, y, nbSamples, "EFORT_Normal", 0.01,"_6_DOF")
+
+fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
+fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
+
+
+#make sure this is 0
+q_0 = fullBody.getCurrentConfig ()
+zeroConf = [0,0,0, 1, 0, 0, 0]
+q_0[0:7] = zeroConf
+fullBody.setCurrentConfig (q_0)
+
+effectors = [rfoot, lfoot, lHand, rHand]
+limbIds = [rLegId, lLegId, larmId, rarmId ]
+
+import numpy as np
+
+points = [[],[],[],[]]
+
+success = 0
+fails = 0
+
+def printComPosition(nbConfigs):
+ for i in range(0,nbConfigs):
+ q = fullBody.shootRandomConfig()
+ q[0:7] = zeroConf
+ fullBody.setCurrentConfig(q) #setConfiguration matching sample
+ com = fullBody.getCenterOfMass()
+ for x in range(0,3):
+ q[x] = -com[x]
+ fullBody.setCurrentConfig(q)
+ #~ print ("final com" + str(com))
+ #~ print ("final com" + str(fullBody.getCenterOfMass()))
+ if(fullBody.isConfigValid(q)[0]):
+ global success
+ success +=1
+ for j in range(0,len(effectors)):
+ effectorName = effectors[j]
+ limbId = limbIds[j]
+ qEffector = fullBody.getJointPosition(effectorName)
+ q0 = quat.Quaternion(qEffector[3:7])
+ rot = q0.toRotationMatrix() #compute rotation matrix world -> local
+ p = qEffector[0:3] #(0,0,0) coordinate expressed in effector fram
+ rm=np.zeros((4,4))
+ for k in range(0,3):
+ for l in range(0,3):
+ rm[k,l] = rot[k,l]
+ for m in range(0,3):
+ rm[m,3] = qEffector[m]
+ rm[3,3] = 1
+ invrm = np.linalg.inv(rm)
+ p = invrm.dot([0,0,0,1])
+ points[j].append(p)
+ #~ print (points[j])
+ else:
+ global fails
+ fails +=1
+ #~ print fullBody.isConfigValid(q)[1]
+ for j in range(0,len(limbIds)):
+ f1=open('./'+str(limbIds[j])+'_com.erom', 'w+')
+ for p in points[j]:
+ f1.write(str(p[0]) + "," + str(p[1]) + "," + str(p[2]) + "\n")
+ f1.close()
+
+#~ printRootPosition(rLegId, rfoot, nbSamples)
+#~ printRootPosition(lLegId, lfoot, nbSamples)
+#~ printRootPosition(rarmId, rHand, nbSamples)
+#~ printRootPosition(larmId, lHand, nbSamples)
+printComPosition(100000)
+print "successes ", success
+print "fails ", fails
diff --git a/script/tools/generateROMsPyerene.py b/script/tools/generateROMsPyerene.py
new file mode 100644
index 0000000..dd2195e
--- /dev/null
+++ b/script/tools/generateROMsPyerene.py
@@ -0,0 +1,79 @@
+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+
+import quaternion as quat
+
+packageName = "talos_description"
+meshPackageName = "talos_description"
+rootJointType = "freeflyer"
+##
+# Information to retrieve urdf and srdf files.
+urdfName = "talos"
+urdfSuffix = "_full"
+srdfSuffix = ""
+
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+nbSamples = 10
+
+ps = ProblemSolver( fullBody )
+
+r = Viewer (ps)
+
+rootName = 'base_joint_xyz'
+
+#~ AFTER loading obstacles
+#~ rLegId = 'rfleg'
+#~ rLeg = 'rf_haa_joint'
+#~ rfoot = 'rf_foot_joint'
+#~ rLegOffset = [0,0,0]
+#~ rLegNormal = [0,1,0]
+#~ rLegx = 0.02; rLegy = 0.02
+#~ fullBody.addLimb(rLegId,rLeg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "EFORT", 0.01)
+#~
+#~ lLegId = 'lhleg'
+#~ lLeg = 'lh_haa_joint'
+#~ lfoot = 'lh_foot_joint'
+#~ lLegOffset = [0,0,0]
+#~ lLegNormal = [0,1,0]
+#~ lLegx = 0.02; lLegy = 0.02
+#~ fullBody.addLimb(lLegId,lLeg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "EFORT", 0.01)
+#~
+#~ rarmId = 'rhleg'
+#~ rarm = 'rh_haa_joint'
+#~ rHand = 'rh_foot_joint'
+#~ rArmOffset = [0,0,0]
+#~ rArmNormal = [1,0,0]
+#~ rArmx = 0.02; rArmy = 0.02
+#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, "EFORT", 0.01)
+#~
+#~ larmId = 'lfleg'
+#~ larm = 'lf_haa_joint'
+#~ lHand = 'lf_foot_joint'
+#~ lArmOffset = [0,0,0]
+#~ lArmNormal = [1,0,0]
+#~ lArmx = 0.02; lArmy = 0.02
+#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, "EFORT", 0.01)
+
+
+#make sure this is 0
+q_0 = fullBody.getCurrentConfig ()
+
+def printEffPosition(limbId, nbSamples):
+ limit = nbSamples-1;
+ f1=open('./data/roms/hyq/'+limbId+'.erom', 'w+')
+ for i in range(0,limit):
+ q = fullBody.getSamplePosition(limbId,i)
+ f1.write(str(q[0]) + "," + str(q[1]) + "," + str(q[2]) + "\n")
+ f1.close()
+
+printEffPosition(rarmId, nbSamples)
+printEffPosition(rLegId, nbSamples)
+printEffPosition(larmId, nbSamples)
+printEffPosition(lLegId, nbSamples)
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index 4481d93..a3fdd50 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -420,8 +420,8 @@ class FullBody (object):
# \return H matrix and h column, such that H w <= h
def getContactCone(self, stateId, friction = 0.5):
H_h = array(self.client.rbprm.rbprm.getContactCone(stateId, friction))
- print "H_h", H_h.shape
- print "norm h", ( H_h[:, -1] != 0).any()
+ #~ print "H_h", H_h.shape
+ #~ print "norm h", ( H_h[:, -1] != 0).any()
# now decompose cone
return H_h[:,:-1], H_h[:, -1]
@@ -431,8 +431,8 @@ class FullBody (object):
# \return H matrix and h column, such that H w <= h
def getContactIntermediateCone(self, stateId, friction = 0.5):
H_h = array(self.client.rbprm.rbprm.getContactIntermediateCone(stateId, friction))
- print "H_h", H_h.shape
- print "norm h", ( H_h[:, -1] != 0).any()
+ #~ print "H_h", H_h.shape
+ #~ print "norm h", ( H_h[:, -1] != 0).any()
# now decompose cone
return H_h[:,:-1], H_h[:, -1]
@@ -624,6 +624,14 @@ class FullBody (object):
def projectStateToCOM(self, state, targetCom):
return self.client.rbprm.rbprm.projectStateToCOM(state, targetCom) > 0
+ ## Project a given state into a given COM position
+ # and update the state configuration.
+ # \param state index of first state.
+ # \param targetCom 3D vector for the com position
+ # \return whether the projection was successful
+ def setConfigAtState(self, state, targetCom):
+ return self.client.rbprm.rbprm.setConfigAtState(state, targetCom) > 0
+
## Given start and goal states
# generate a contact sequence over a list of configurations
#
diff --git a/src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py b/src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
index 7aa65ef..2c3601a 100644
--- a/src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
+++ b/src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
@@ -152,7 +152,7 @@ def load_obj_and_save_ineq(in_name, out_name):
ineq = as_inequalities(obj)
ineq_to_file (ineq, out_name)
-#~ load_obj_and_save_ineq('./hrp2/LA_com_reduced.obj','./hrp2/LA_com.ineq')
-#~ load_obj_and_save_ineq('./hrp2/RA_com_reduced.obj','./hrp2/RA_com.ineq')
-#~ load_obj_and_save_ineq('./hrp2/LL_com_reduced.obj','./hrp2/LL_com.ineq')
-#~ load_obj_and_save_ineq('./hrp2/RL_com_reduced.obj','./hrp2/RL_com.ineq')
+#~ load_obj_and_save_ineq('./spiderman/LA_com_reduced.obj','./spiderman/LA_com.ineq')
+#~ load_obj_and_save_ineq('./spiderman/RA_com_reduced.obj','./spiderman/RA_com.ineq')
+#~ load_obj_and_save_ineq('./spiderman/LL_com_reduced.obj','./spiderman/LL_com.ineq')
+#~ load_obj_and_save_ineq('./spiderman/RL_com_reduced.obj','./spiderman/RL_com.ineq')
diff --git a/src/hpp/corbaserver/rbprm/tools/spiderman/LA_com.ineq b/src/hpp/corbaserver/rbprm/tools/spiderman/LA_com.ineq
new file mode 100644
index 0000000..d3b5745
--- /dev/null
+++ b/src/hpp/corbaserver/rbprm/tools/spiderman/LA_com.ineq
@@ -0,0 +1,92 @@
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\ No newline at end of file
diff --git a/src/hpp/corbaserver/rbprm/tools/spiderman/LL_com.ineq b/src/hpp/corbaserver/rbprm/tools/spiderman/LL_com.ineq
new file mode 100644
index 0000000..0a2a6e3
--- /dev/null
+++ b/src/hpp/corbaserver/rbprm/tools/spiderman/LL_com.ineq
@@ -0,0 +1,92 @@
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\ No newline at end of file
diff --git a/src/hpp/corbaserver/rbprm/tools/spiderman/RA_com.ineq b/src/hpp/corbaserver/rbprm/tools/spiderman/RA_com.ineq
new file mode 100644
index 0000000..e426f0a
--- /dev/null
+++ b/src/hpp/corbaserver/rbprm/tools/spiderman/RA_com.ineq
@@ -0,0 +1,92 @@
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\ No newline at end of file
diff --git a/src/hpp/corbaserver/rbprm/tools/spiderman/RL_com.ineq b/src/hpp/corbaserver/rbprm/tools/spiderman/RL_com.ineq
new file mode 100644
index 0000000..ac98512
--- /dev/null
+++ b/src/hpp/corbaserver/rbprm/tools/spiderman/RL_com.ineq
@@ -0,0 +1,92 @@
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+p22
+tp23
+bsg5
+g2
+(g3
+(I0
+tp24
+g5
+tp25
+Rp26
+(I1
+(I34
+tp27
+g12
+I00
+S"\xed^I\x965`\xef\xbf\xe8\x1d\xe8\xdf\xf5\xa3\xee\xbf\xa4H\xba\xc7\xd2\xbe\xe9\xbf\xf2*\x86\x82\xcdm\xe0\xbf'nAi\xc2c\xe1\xbf\xb5\xea\xc5\xd8\x1am\xde\xbfC3\xf4\xf4\xb6f\xec\xbf\xeb\x1cqs+\xee\xea\xbf\xb6_\xec5,J\xcf\xbfr\xbd<H\x07\xbf\xe6\xbf\x85\xad)6E\x0c\xdc\xbfC\xa7+Du\x12\xf2\xbf\xae\xf3z.\x96\xec\xe7\xbf\xb4Oq\xacl\x8f\xe0\xbf\xba\x0c\x19\xf5\xeb#\xe3\xbfIB\xa5\x80bC\xf1\xbf\xd5\x9e\xa7|n*\xe0\xbf~\x9e-Ay\xf0\xed\xbf\x01I\x8f\x98\xbdQ\xed\xbf\xc8y\xae\x8f\x08^\xec\xbf\x9a8@\x87\xb5\xcc\xce\xbfJ\xb8\xb9}\x82\x03\xf2\xbf\xbc\xf6Z\x867\xc0\xf1\xbf\xee6N\xd7Je\xf2\xbf9\x83\x0e]\x81\xf2\xf1\xbf\xba\xbeJ \xd7\xf1\xf1\xbf{(\xe3u\x83|\xee\xbf\x08P\x94\x0b\xa3f\xed\xbf\xc5\xa8\xf3\x02\xd6<\xee\xbf\x8d\xe3\x85I\xf8\xe3\xee\xbf\x15\xb1\xdf\x86e\xb2\xef\xbf)\xf2\xb1%nH\xef\xbf\xa8,\xea\x1a\x84u\xf2\xbf\x0e8\xc5\xfddl\xf0\xbf"
+p28
+tp29
+bsS'N'
+p30
+g2
+(g3
+(I0
+tp31
+g5
+tp32
+Rp33
+(I1
+(I34
+I3
+tp34
+g12
+I00
+S'^K\xc8\x07=\x9b\xd9?\xd7\xa3p=\n\xd7\xe9\xbf\xd0\xd5V\xec/\xbb\xdb\xbfKY\x868\xd6\xc5\xe9?\x01\xde\x02\t\x8a\x1f\xdf\xbf\x19\x04V\x0e-\xb2\xd5?\xc1\xa8\xa4N@\x13\xe7?\x1dZd;\xdfO\xd1\xbf\rq\xac\x8b\xdbh\xe4?\x9a\x99\x99\x99\x99\x99\x89\xbf\x9bU\x9f\xab\xad\xd8\xef\xbf\xb3\x0cq\xac\x8b\xdb\xb8?\x8bl\xe7\xfb\xa9\xf1\x92\xbf<N\xd1\x91\\\xfe\xef\xbf\xce\x88\xd2\xde\xe0\x0b\x83\xbfS\x96!\x8euq\xab\xbf}?5^\xbaI\xee\xbf\xaf\x94e\x88c]\xd4?F\xb6\xf3\xfd\xd4x\xeb\xbf\xc2\x86\xa7W\xca2\xe0?0L\xa6\nF%\xb5?\xb9\x8d\x06\xf0\x16H\xd8\xbf\t\xf9\xa0g\xb3\xea\xe9\xbf\xa4p=\n\xd7\xa3\xdc\xbfJ\x0c\x02+\x87\x16\x99?5^\xbaI\x0c\x02\xcb?\xa1\xd64\xef8E\xef?\xbe0\x99*\x18\x95\xe4\xbf;p\xce\x88\xd2\xde\xc8?\xfb\\m\xc5\xfe\xb2\xe7?\xf6\x97\xdd\x93\x87\x85\xaa?\xee|?5^\xba\xe3\xbfk\x9aw\x9c\xa2#\xe9?-!\x1f\xf4lV\xed?\x9f\xcd\xaa\xcf\xd5V\xcc\xbf\xbf}\x1d8gD\xd5\xbf\xc0\xec\x9e<,\xd4\xe6?\xac\x1cZd;\xdf\xbf?\x8cJ\xea\x044\x11\xe6?\xe4\x83\x9e\xcd\xaa\xcf\x95?Z\xf5\xb9\xda\x8a\xfd\xef?\x07\xf0\x16HP\xfc\x88?_\x07\xce\x19Q\xda\xbb\xbf\xbf\x0e\x9c3\xa2\xb4\xef?#\xdb\xf9~j\xbc\xb4\xbf\x99*\x18\x95\xd4\t\xe4\xbf\x9a\x99\x99\x99\x99\x99\x89\xbf\x8bl\xe7\xfb\xa9\xf1\xe8\xbfB`\xe5\xd0"\xdb\xa9?\xe4\x83\x9e\xcd\xaa\xcf\xef?=\x9bU\x9f\xab\xad\xb8?\xcc]K\xc8\x07=\xef\xbf\xfb\\m\xc5\xfe\xb2\xcb\xbfM\xf3\x8eSt$\x87?\x91\xed|?5^\xee\xbfm\xe7\xfb\xa9\xf1\xd2\xd1\xbf\x03\t\x8a\x1fc\xee\xc2?\xcd;N\xd1\x91\\\xda\xbf\x91\xed|?5^\xe8?\x88c]\xdcF\x03\xe0\xbf\x1c\xeb\xe26\x1a\xc0\xab\xbf\xf7\xe4a\xa1\xd64\xd7?KY\x868\xd6\xc5\xed?Tt$\x97\xff\x90\xe8?\xfb:p\xce\x88\xd2\xbe?\xdcF\x03x\x0b$\xe4\xbf&S\x05\xa3\x92:\xed?a2U0*\xa9C??5^\xbaI\x0c\xda\xbf\xbe0\x99*\x18\x95\x94?m\xe7\xfb\xa9\xf1\xd2\xd1?}\xd0\xb3Y\xf5\xb9\xee\xbf@\xa4\xdf\xbe\x0e\x9c\xa3?vO\x1e\x16jM\xb3\xbf4\x80\xb7@\x82\xe2\xef\xbf\x94\xf6\x06_\x98L\x85?\xaf\x94e\x88c]\x9c\xbfx\x9c\xa2#\xb9\xfc\xef\xbf\x04\xe7\x8c(\xed\r\xec?\xc9v\xbe\x9f\x1a/\xd9?\xdd\xb5\x84|\xd0\xb3\xd1?\x07\xf0\x16HP\xfc\xec\xbfxz\xa5,C\x1c\xdb?\x07\xf0\x16HP\xfcx\xbfG\x03x\x0b$(\xe4\xbf\'1\x08\xac\x1cZ\xe2\xbfRI\x9d\x80&\xc2\xe0\xbf#\xdb\xf9~j\xbc\xee\xbf+\xf6\x97\xdd\x93\x87\xcd\xbfp\xce\x88\xd2\xde\xe0\xc3\xbf~\x8c\xb9k\t\xf9\xea\xbf\x14\xd0D\xd8\xf0\xf4\xd6?\x08=\x9bU\x9f\xab\xd9\xbfw-!\x1f\xf4l\xe6\xbf"lxz\xa5,\xdb?c\x7f\xd9=yX\xe2\xbf\xa2\xb47\xf8\xc2d\xda?\x8c\xdbh\x00o\x81\xcc\xbf0*\xa9\x13\xd0D\xec\xbfO\xaf\x94e\x88c\xd9?\x16jM\xf3\x8eS\xe6?J\x0c\x02+\x87\x16\xe3\xbf'
+p35
+tp36
+bs.
\ No newline at end of file
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 3038ff1..1c1c09e 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -1882,6 +1882,34 @@ std::cout << "ok. state 2" << paths[cT2]->end().head<3>() << std::endl;
}
}
+
+ double RbprmBuilder::setConfigAtState(unsigned short state, const hpp::floatSeq& q) throw (hpp::Error)
+ {
+ try
+ {
+ if(lastStatesComputed_.size () < state)
+ {
+ throw std::runtime_error ("did not find a states at indicated index: " + std::string(""+(std::size_t)(state)));
+ }
+ model::Configuration_t res = dofArrayToConfig (fullBody_->device_, q);
+ if(lastStatesComputed_.size() <= state)
+ {
+ throw std::runtime_error ("Unexisting state in setConfigAtstate");
+ }
+ else
+ {
+ lastStatesComputed_[state].configuration_ = res;
+ lastStatesComputedTime_[state].second.configuration_ = res;
+ return 1.;
+ }
+ return 0.;
+ }
+ catch(std::runtime_error& e)
+ {
+ throw Error(e.what());
+ }
+ }
+
hpp::floatSeq* RbprmBuilder::getConfigAtState(unsigned short state) throw (hpp::Error)
{
try
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index 4e5ad15..488cc94 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -202,6 +202,7 @@ namespace hpp {
virtual hpp::floatSeq* projectToCom(double state, const hpp::floatSeq& targetCom) throw (hpp::Error);
virtual CORBA::Short createState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
virtual hpp::floatSeq* getConfigAtState(unsigned short stateId) throw (hpp::Error);
+ virtual double setConfigAtState(unsigned short stateId, const hpp::floatSeq& config) throw (hpp::Error);
double projectStateToCOMEigen(unsigned short stateId, const model::Configuration_t& com_target)throw (hpp::Error);
virtual double projectStateToCOM(unsigned short stateId, const hpp::floatSeq& com) throw (hpp::Error);
virtual void saveComputedStates(const char* filepath) throw (hpp::Error);
--
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