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Guilhem Saurel
hpp-rbprm-corba
Commits
03e2ab4c
Commit
03e2ab4c
authored
Nov 15, 2019
by
Guilhem Saurel
Browse files
fix import of display_tools
parent
e25170f9
Changes
52
Hide whitespace changes
Inline
Side-by-side
script/scenarios/demos/hrp2_flatGround.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.hrp2
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
hrp2_flatGround_path
as
tp
...
...
@@ -33,7 +33,7 @@ fullBody.setCurrentConfig (q_init)
v
(
q_ref
)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
100000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
''
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep06"
,
0.01
,
limbOffset
=
fullBody
.
rLegLimbOffset
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.4
)
...
...
@@ -52,7 +52,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#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
...
...
script/scenarios/demos/hrp2_plateformes.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.hrp2
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
hrp2_plateformes_path
as
tp
...
...
@@ -34,7 +34,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
100000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep1"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.3
)
...
...
@@ -47,7 +47,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0.
)[
0
:
7
]
# use this to get the correct orientation
...
...
script/scenarios/demos/hyq_slalom_debris.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.hyq_contact6D
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
hyq_slalom_debris_path
as
tp
...
...
@@ -32,7 +32,7 @@ fullBody.setCurrentConfig (q_init)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
10000
...
...
@@ -49,7 +49,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#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
...
...
script/scenarios/demos/talos_flatGround.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
talos_flatGround_path
as
tp
...
...
@@ -31,7 +31,7 @@ fullBody.usePosturalTaskContactCreation(True)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
50000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep06"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.75
)
...
...
@@ -44,7 +44,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0.001
)[
0
:
7
]
# use this to get the correct orientation
...
...
script/scenarios/demos/talos_navBauzil.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
talos_navBauzil_path
as
tp
...
...
@@ -39,7 +39,7 @@ fullBody.usePosturalTaskContactCreation(True)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
10000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep06"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.85
)
#fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
...
...
@@ -53,7 +53,7 @@ print "Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#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
...
...
script/scenarios/demos/talos_navBauzil_hard.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
talos_navBauzil_hard_path
as
tp
...
...
@@ -39,13 +39,13 @@ fullBody.usePosturalTaskContactCreation(True)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
10000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep06"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.85
)
fullBody
.
addLimb
(
fullBody
.
lLegId
,
fullBody
.
lleg
,
fullBody
.
lfoot
,
fullBody
.
lLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
lLegx
,
fullBody
.
lLegy
,
nbSamples
,
"fixedStep06"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
lLegKinematicConstraints
,
kinematicConstraintsMin
=
0.85
)
#In this scenario, the arms are not used to create contact, but they may move to avoid collision.
#In this scenario, the arms are not used to create contact, but they may move to avoid collision.
fullBody
.
addNonContactingLimb
(
fullBody
.
lArmId
,
fullBody
.
larm
,
fullBody
.
lhand
,
5000
)
fullBody
.
runLimbSampleAnalysis
(
fullBody
.
lArmId
,
"ReferenceConfiguration"
,
True
)
fullBody
.
addNonContactingLimb
(
fullBody
.
rArmId
,
fullBody
.
rarm
,
fullBody
.
rhand
,
5000
)
...
...
@@ -55,7 +55,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#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
...
...
script/scenarios/demos/talos_plateformes.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
talos_plateformes_path
as
tp
...
...
@@ -34,7 +34,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
100000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep08"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.6
)
...
...
@@ -47,7 +47,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0.
)[
0
:
7
]
# use this to get the correct orientation
...
...
script/scenarios/demos/talos_stairs10.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
talos_stairs10_path
as
tp
...
...
@@ -38,7 +38,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
fullBody
.
usePosturalTaskContactCreation
(
True
)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
50000
heuristic
=
"fixedStep06"
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
heuristic
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.85
)
...
...
@@ -52,7 +52,7 @@ print "Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#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
...
...
script/scenarios/memmo/anymal_circle.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.anymal
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
anymal_circle_path
as
tp
...
...
@@ -59,7 +59,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
fullBody
.
usePosturalTaskContactCreation
(
True
)
"""
if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
heuristicR = "fixedStep08"
heuristicL = "fixedStep08"
print "Use weight for straight walk"
...
...
@@ -80,7 +80,7 @@ fullBody.setCurrentConfig (q_init)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
"""
nbSamples = 100000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristicR, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
...
...
@@ -94,7 +94,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
0
:
7
]
# use this to get the correct orientation
...
...
script/scenarios/memmo/anymal_circle_oriented.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.anymal
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
anymal_circle_oriented_path
as
tp
...
...
@@ -64,7 +64,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
fullBody
.
usePosturalTaskContactCreation
(
True
)
"""
if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
heuristicR = "fixedStep08"
heuristicL = "fixedStep08"
print "Use weight for straight walk"
...
...
@@ -85,7 +85,7 @@ fullBody.setCurrentConfig (q_init)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
"""
nbSamples = 100000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristicR, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85)
...
...
@@ -99,7 +99,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
0
:
7
]
# use this to get the correct orientation
...
...
script/scenarios/memmo/anymal_platform_random.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.anymal
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
scenarios.memmo.anymal_platform_random_path
as
tp
...
...
@@ -64,7 +64,7 @@ fullBody.setCurrentConfig (q_init)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
fullBody
.
loadAllLimbs
(
"static"
,
"ReferenceConfiguration"
,
nbSamples
=
100000
)
...
...
@@ -73,7 +73,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
0
:
7
]
# use this to get the correct orientation
...
...
script/scenarios/memmo/talos_circle.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
talos_circle_path
as
tp
...
...
@@ -62,7 +62,7 @@ q_init = q_ref[::]
fullBody
.
setReferenceConfig
(
q_ref
)
if
abs
(
tp
.
q_goal
[
1
])
<=
abs
(
tp
.
q_goal
[
0
])
:
if
abs
(
tp
.
q_goal
[
1
])
<=
abs
(
tp
.
q_goal
[
0
])
:
fullBody
.
setPostureWeights
(
fullBody
.
postureWeights
[::]
+
[
0
]
*
6
)
heuristicR
=
"fixedStep08"
heuristicL
=
"fixedStep08"
...
...
@@ -85,7 +85,7 @@ fullBody.setCurrentConfig (q_init)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
100000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
heuristicR
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.85
)
...
...
@@ -98,7 +98,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
0
:
7
]
# use this to get the correct orientation
...
...
script/scenarios/memmo/talos_circle_oriented.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
numpy
as
np
import
time
print
"Plan guide trajectory ..."
...
...
@@ -80,7 +80,7 @@ fullBody.setCurrentConfig (q_init)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
100000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
heuristicR
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.85
)
...
...
@@ -95,10 +95,10 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
0
:
7
]
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
0
:
7
]
q_goal
=
q_init
[::];
q_goal
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
tp
.
ps
.
pathLength
(
pId
))[
0
:
7
]
vel_init
=
[
0
,
0
,
0
]
acc_init
=
[
0
,
0
,
0
]
...
...
script/scenarios/memmo/talos_moveEffector_flat.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
from
hpp.gepetto
import
ViewerFactory
from
hpp.corbaserver
import
ProblemSolver
import
os
...
...
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
fullBody
.
setJointBounds
(
'leg_left_2_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_6_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_2_joint'
,[
-
0.25
,
0.25
])
# constraint z axis and y axis :
# constraint z axis and y axis :
joint1L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_1_joint'
)
joint3L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_3_joint'
)
joint1R_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_right_1_joint'
)
...
...
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
10
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"static"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.7
)
...
...
script/scenarios/memmo/talos_moveEffector_stairs_m10.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
from
hpp.gepetto
import
ViewerFactory
from
hpp.corbaserver
import
ProblemSolver
import
os
...
...
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
fullBody
.
setJointBounds
(
'leg_left_2_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_6_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_2_joint'
,[
-
0.25
,
0.25
])
# constraint z axis and y axis :
# constraint z axis and y axis :
joint1L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_1_joint'
)
joint3L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_3_joint'
)
joint1R_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_right_1_joint'
)
...
...
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
10
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"static"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.75
)
...
...
script/scenarios/memmo/talos_moveEffector_stairs_m15.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
from
hpp.gepetto
import
ViewerFactory
from
hpp.corbaserver
import
ProblemSolver
import
os
...
...
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
fullBody
.
setJointBounds
(
'leg_left_2_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_6_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_2_joint'
,[
-
0.25
,
0.25
])
# constraint z axis and y axis :
# constraint z axis and y axis :
joint1L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_1_joint'
)
joint3L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_3_joint'
)
joint1R_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_right_1_joint'
)
...
...
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
10
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"static"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.75
)
...
...
script/scenarios/memmo/talos_moveEffector_stairs_p10.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
from
hpp.gepetto
import
ViewerFactory
from
hpp.corbaserver
import
ProblemSolver
import
os
...
...
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
fullBody
.
setJointBounds
(
'leg_left_2_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_6_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_2_joint'
,[
-
0.25
,
0.25
])
# constraint z axis and y axis :
# constraint z axis and y axis :
joint1L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_1_joint'
)
joint3L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_3_joint'
)
joint1R_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_right_1_joint'
)
...
...
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
10
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"static"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.75
)
...
...
script/scenarios/memmo/talos_moveEffector_stairs_p15.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
from
hpp.gepetto
import
ViewerFactory
from
hpp.corbaserver
import
ProblemSolver
import
os
...
...
@@ -22,7 +22,7 @@ fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
fullBody
.
setJointBounds
(
'leg_left_2_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_6_joint'
,[
-
0.25
,
0.25
])
fullBody
.
setJointBounds
(
'leg_right_2_joint'
,[
-
0.25
,
0.25
])
# constraint z axis and y axis :
# constraint z axis and y axis :
joint1L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_1_joint'
)
joint3L_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_left_3_joint'
)
joint1R_bounds_prev
=
fullBody
.
getJointBounds
(
'leg_right_1_joint'
)
...
...
@@ -70,7 +70,7 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
10
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"static"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.75
)
...
...
script/scenarios/memmo/talos_platform.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
talos_platform_path
as
tp
...
...
@@ -58,7 +58,7 @@ q_init = q_ref[::]
fullBody
.
setReferenceConfig
(
q_ref
)
"""
if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
heuristicR = "fixedStep08"
heuristicL = "fixedStep08"
...
...
@@ -81,7 +81,7 @@ fullBody.setCurrentConfig (q_init)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
100000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep06"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.85
)
...
...
@@ -94,7 +94,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
0
:
7
]
# use this to get the correct orientation
...
...
script/scenarios/memmo/talos_platform_random.py
View file @
03e2ab4c
from
hpp.corbaserver.rbprm.talos
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
from
hpp.corbaserver.rbprm.
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
scenarios.memmo.talos_platform_random_path
as
tp
...
...
@@ -65,7 +65,7 @@ fullBody.setCurrentConfig (q_init)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
# generate databases :
nbSamples
=
100000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep08"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
,
kinematicConstraintsMin
=
0.8
)
...
...
@@ -78,7 +78,7 @@ tGenerate = time.time() - tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#define initial and final configurations :
#define initial and final configurations :
configSize
=
fullBody
.
getConfigSize
()
-
fullBody
.
client
.
robot
.
getDimensionExtraConfigSpace
()
q_init
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
0
:
7
]
# use this to get the correct orientation
...
...
@@ -105,7 +105,7 @@ q_init[2]=q_ref[2]
q_goal
[
2
]
=
q_ref
[
2
]
# define init gait according to the direction of motion, try to move first the leg on the outside of the turn :
# define init gait according to the direction of motion, try to move first the leg on the outside of the turn :
if
q_goal
[
0
]
>
q_init
[
0
]
:
#go toward x positif
if
q_goal
[
1
]
>
q_init
[
1
]:
# turn left
gait
=
[
fullBody
.
rLegId
,
fullBody
.
lLegId
]
...
...
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