abstract_path_planner.py 8.28 KB
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 Pierre Fernbach committed Feb 27, 2020 1 2 3 4 5 6 7 8 9 10 11 12 13 ``````from abc import abstractmethod from hpp.gepetto import ViewerFactory, PathPlayer from hpp.corbaserver.affordance.affordance import AffordanceTool from hpp.corbaserver import ProblemSolver import time class AbstractPathPlanner: rbprmBuilder = None ps = None v = None afftool = None pp = None `````` Pierre Fernbach committed Mar 03, 2020 14 `````` extra_dof_bounds = None `````` Pierre Fernbach committed Feb 27, 2020 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 `````` def __init__(self): self.v_max = -1 # bounds on the linear velocity for the root, negative values mean unused self.a_max = -1 # bounds on the linear acceleration for the root, negative values mean unused self.root_translation_bounds = [0] * 6 # bounds on the root translation position (-x, +x, -y, +y, -z, +z) self.root_rotation_bounds = [-3.14, 3.14, -0.01, 0.01, -0.01, 0.01] # bounds on the rotation of the root (-z, z, -y, y, -x, x) # The rotation bounds are only used during the random sampling, they are not enforced along the path self.extra_dof = 6 # number of extra config appended after the joints configuration, 6 to store linear root velocity and acceleration self.mu = 0.5 # friction coefficient between the robot and the environment self.used_limbs = [] # names of the limbs that must be in contact during all the motion self.size_foot_x = 0 # size of the feet along the x axis self.size_foot_y = 0 # size of the feet along the y axis self.q_init = [] self.q_goal = [] @abstractmethod def load_rbprm(self): """ Build an rbprmBuilder instance for the correct robot and initialize it's extra config size """ pass `````` Pierre Fernbach committed Mar 03, 2020 37 38 39 40 41 42 43 44 45 46 47 48 `````` def set_configurations(self): self.rbprmBuilder.client.robot.setDimensionExtraConfigSpace(self.extra_dof) self.q_init = self.rbprmBuilder.getCurrentConfig() self.q_goal = self.rbprmBuilder.getCurrentConfig() self.q_init[2] = self.rbprmBuilder.ref_height self.q_goal[2] = self.rbprmBuilder.ref_height def compute_extra_config_bounds(self): # bounds for the extradof : by default use v_max/a_max on x and y axis and 0 on z axis self.extra_dof_bounds = [-self.v_max,self.v_max,-self.v_max,self.v_max,0,0, -self.a_max,self.a_max,-self.a_max,self.a_max,0,0] `````` Pierre Fernbach committed Feb 27, 2020 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 `````` def set_joints_bounds(self): """ Set the root translation and rotation bounds as well as the the extra dofs bounds """ self.rbprmBuilder.setJointBounds ("root_joint", self.root_translation_bounds) self.rbprmBuilder.boundSO3(self.root_rotation_bounds) self.rbprmBuilder.client.robot.setExtraConfigSpaceBounds(self.extra_dof_bounds) def set_rom_filters(self): """ Define which ROM must be in collision at all time and with which kind of affordances By default it set all the roms in used_limbs to be in contact with 'support' affordances """ self.rbprmBuilder.setFilter(self.used_limbs) for limb in self.used_limbs: self.rbprmBuilder.setAffordanceFilter(limb, ['Support']) def init_problem(self): """ Load the robot, set the bounds and the ROM filters and then Create a ProblemSolver instance and set the default parameters. The values of v_max, a_max, mu, size_foot_x and size_foot_y must be defined before calling this method """ self.load_rbprm() `````` Pierre Fernbach committed Mar 03, 2020 73 74 `````` self.set_configurations() self.compute_extra_config_bounds() `````` Pierre Fernbach committed Feb 27, 2020 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 `````` self.set_joints_bounds() self.set_rom_filters() self.ps = ProblemSolver( self.rbprmBuilder) # define parameters used by various methods : if self.v_max >= 0: self.ps.setParameter("Kinodynamic/velocityBound", self.v_max) if self.a_max >= 0: self.ps.setParameter( "Kinodynamic/accelerationBound", self.a_max) if self.size_foot_x > 0: self.ps.setParameter("DynamicPlanner/sizeFootX", self.size_foot_x) if self.size_foot_y > 0: self.ps.setParameter("DynamicPlanner/sizeFootY", self.size_foot_y) self.ps.setParameter("DynamicPlanner/friction", 0.5) # sample only configuration with null velocity and acceleration : self.ps.setParameter("ConfigurationShooter/sampleExtraDOF", False) `````` Pierre Fernbach committed Mar 03, 2020 91 `````` def init_viewer(self, env_name, env_package = "hpp_environments",reduce_sizes = [0, 0, 0], visualize_affordances = []): `````` Pierre Fernbach committed Feb 27, 2020 92 93 94 95 `````` """ Build an instance of hpp-gepetto-viewer from the current problemSolver :param env_name: name of the urdf describing the environment :param env_package: name of the package containing this urdf (default to hpp_environments) `````` Pierre Fernbach committed Mar 03, 2020 96 97 `````` :param reduce_sizes: Distance used to reduce the affordances plan toward the center of the plane (in order to avoid putting contacts closes to the edges of the surface) `````` Pierre Fernbach committed Feb 27, 2020 98 99 100 101 102 `````` :param visualize_affordances: list of affordances type to visualize, default to none """ vf = ViewerFactory(self.ps) self.afftool = AffordanceTool () self.afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005]) `````` Pierre Fernbach committed Mar 03, 2020 103 `````` self.afftool.loadObstacleModel (env_package, env_name, "planning", vf, reduceSizes = reduce_sizes) `````` Pierre Fernbach committed Feb 27, 2020 104 105 106 107 108 109 110 111 112 113 114 115 `````` try : self.v = vf.createViewer(displayArrows = True) except Exception: print("No viewer started !") class FakeViewer(): def __init__(self): return def __call__(self,q): return def addLandmark(self,a,b): return self.v = FakeViewer() `````` Pierre Fernbach committed Mar 04, 2020 116 117 118 119 `````` try: self.pp = PathPlayer(self.v) except Exception: pass `````` Pierre Fernbach committed Feb 27, 2020 120 121 122 123 124 `````` for aff_type in visualize_affordances: self.afftool.visualiseAffordances(aff_type, self.v, self.v.color.lightBrown) `````` Pierre Fernbach committed Mar 04, 2020 125 `````` def init_planner(self, kinodynamic = True, optimize = True): `````` Pierre Fernbach committed Feb 27, 2020 126 127 128 `````` """ Select the rbprm methods, and the kinodynamic ones if required :param kinodynamic: if True, also select the kinodynamic methods `````` Pierre Fernbach committed Mar 04, 2020 129 `````` :param optimize: if True, add randomShortcut path optimizer (or randomShortcutDynamic if kinodynamic is also True) `````` Pierre Fernbach committed Feb 27, 2020 130 131 132 133 134 135 136 `````` """ self.ps.selectConfigurationShooter("RbprmShooter") self.ps.selectPathValidation("RbprmPathValidation", 0.05) if kinodynamic: self.ps.selectSteeringMethod("RBPRMKinodynamic") self.ps.selectDistance("Kinodynamic") self.ps.selectPathPlanner("DynamicPlanner") `````` Pierre Fernbach committed Mar 04, 2020 137 138 139 140 141 `````` if optimize: if kinodynamic: self.ps.addPathOptimizer("RandomShortcutDynamic") else: self.ps.addPathOptimizer("RandomShortcut") `````` Pierre Fernbach committed Feb 27, 2020 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 `````` def solve(self): """ Solve the path planning problem. q_init and q_goal must have been defined before calling this method """ if len(self.q_init) != self.rbprmBuilder.getConfigSize(): raise ValueError("Initial configuration vector do not have the right size") if len(self.q_goal) != self.rbprmBuilder.getConfigSize(): raise ValueError("Goal configuration vector do not have the right size") self.ps.setInitialConfig (self.q_init) self.ps.addGoalConfig (self.q_goal) self.v(self.q_init) t = self.ps.solve () print("Guide planning time : ",t) def run(self): self.init_problem() self.init_viewer() self.init_planner() self.solve() def display_path(self, path_id = -1, dt = 0.1): """ Display the path in the viewer, if no path specified display the last one :param path_id: the Id of the path specified, default to the most recent one :param dt: discretization step used to display the path (default to 0.1) """ `````` Pierre Fernbach committed Mar 04, 2020 171 172 173 174 175 `````` if self.pp is not None: if path_id < 0: path_id = self.ps.numberPaths()-1 self.pp.dt = dt self.pp.displayVelocityPath(path_id) `````` Pierre Fernbach committed Feb 27, 2020 176 177 178 179 180 181 182 `````` def play_path(self, path_id = -1, dt = 0.01): """ play the path in the viewer, if no path specified display the last one :param path_id: the Id of the path specified, default to the most recent one :param dt: discretization step used to display the path (default to 0.01) """ `````` Pierre Fernbach committed Mar 04, 2020 183 184 185 186 187 `````` if self.pp is not None: if path_id < 0: path_id = self.ps.numberPaths()-1 self.pp.dt = dt self.pp(path_id) `````` Pierre Fernbach committed Feb 27, 2020 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 `````` def hide_rom(self): """ Move visual ROM far above the meshs, as we cannot just delete it. """ q_far = self.q_init[::] q_far[2] = -3 self.v(q_far) @abstractmethod def run(self): """ Must be defined in the child class to run all the methods with the correct arguments. """ # example of definition: """ self.init_problem() # define initial and goal position self.q_init[0:2] = [0, 0] self.q_goal[0:2] = [1, 0] self.init_viewer("multicontact/ground", visualize_affordances=["Support"]) self.init_planner() self.solve() self.display_path() self.play_path() """ pass``````