Humanoid Path Planner - RBPRM-CORBA module

Copyright 2015 LAAS-CNRS

Author: Steve Tonneau

##Description hpp-rbprm-corba implements python bindings for hpp-rbprm, and presents a few example files. Please refer to this link for information on hpp-rbprm.

##Installation on ubuntu-14.04 64 bit with ros-indigo

To install hpp-rbprm-corba:

1. Install HPP-RBPRM and its dependencies - see https://github.com/stonneau/hpp-rbprm

2. Install HPP-AFFORDANCE-CORBA along with its dependencies

• see https://github.com/anna-seppala/hpp-affordance-corba

3. Use CMake to install the library. For instance:

      mkdir $HPP_RBPRM_CORBA_DIR/build
      cd $HPP_RBPRM_CORBA_DIR/build
      cd cmake ..	
      make install

##Documentation

Open $DEVEL_DIR/install/share/doc/hpp-rbprm-corba/doxygen-html/index.html in a web brower and you will have access to the code documentation. If you are using ipython, the documentation of the methods implemented is also directly available in a python console.

##Example

To see the planner in action, two examples from our IJRR submission with HyQ are available. Examples with HRP-2 are also provided, though they can only be executed if you have access to HRP-2 model.

• First of all, retrieve and build the HyQ model from its github repository: https://github.com/iit-DLSLab/hyq-description

  $ rosrun xacro xacro.py hyq_description/robots/hyq_model.urdf.xacro -o hyq.urdf

• Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/

• The planning is decomposed in two phases / scripts. First, a root path is computed (*_path.py files). Then, the contacts are generated along the computed path (*_interp.py files). The scripts are located in the folder /scripts/scenarios/demos.

• To see the different steps of the process run

  $ ./run.sh darpa_hyq_path.py

The script include comments explaining the different calls to the library. You can call the different methods a() ... d() to see the different steps of the planning.