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Guilhem Saurel
hpp-rbprm-corba
Commits
07d1f3c6
Commit
07d1f3c6
authored
Aug 14, 2019
by
stevet
Browse files
reentering planner
parent
6878f63b
Changes
6
Hide whitespace changes
Inline
Side-by-side
script/scenarios/sandbox/anymal_one_step/anymal_circle_one_step.py
0 → 100644
View file @
07d1f3c6
from
hpp.corbaserver.rbprm.anymal
import
Robot
from
hpp.gepetto
import
Viewer
from
tools.display_tools
import
*
import
time
print
"Plan guide trajectory ..."
import
anymal_circle_one_step_path
as
tp
print
"Done."
import
time
statusFilename
=
tp
.
statusFilename
pId
=
0
f
=
open
(
statusFilename
,
"a"
)
if
tp
.
ps
.
numberPaths
()
>
0
:
print
"Path planning OK."
f
.
write
(
"Planning_success: True"
+
"
\n
"
)
f
.
close
()
else
:
print
"Error during path planning"
f
.
write
(
"Planning_success: False"
+
"
\n
"
)
f
.
close
()
import
sys
sys
.
exit
(
1
)
fullBody
=
Robot
()
root_bounds
=
tp
.
root_bounds
root_bounds
[
-
1
]
=
0.6
root_bounds
[
-
2
]
=
0.3
# Set the bounds for the root
fullBody
.
setJointBounds
(
"root_joint"
,
root_bounds
)
## reduce bounds on joints along x, to put conservative condition on the contact generation for sideway steps
fullBody
.
setVeryConstrainedJointsBounds
()
# add the 6 extraDof for velocity and acceleration (see *_path.py script)
fullBody
.
client
.
robot
.
setDimensionExtraConfigSpace
(
tp
.
extraDof
)
fullBody
.
client
.
robot
.
setExtraConfigSpaceBounds
([
-
tp
.
vMax
,
tp
.
vMax
,
-
tp
.
vMax
,
tp
.
vMax
,
0
,
0
,
-
tp
.
aMax
,
tp
.
aMax
,
-
tp
.
aMax
,
tp
.
aMax
,
0
,
0
])
ps
=
tp
.
ProblemSolver
(
fullBody
)
ps
.
setParameter
(
"Kinodynamic/velocityBound"
,
tp
.
vMax
)
ps
.
setParameter
(
"Kinodynamic/accelerationBound"
,
tp
.
aMax
)
#load the viewer
try
:
v
=
tp
.
Viewer
(
ps
,
viewerClient
=
tp
.
v
.
client
,
displayCoM
=
True
)
except
Exception
:
print
"No viewer started !"
class
FakeViewer
():
def
__init__
(
self
):
return
def
__call__
(
self
,
q
):
return
def
addLandmark
(
self
,
a
,
b
):
return
v
=
FakeViewer
()
# load a reference configuration
q_ref
=
fullBody
.
referenceConfig
[::]
+
[
0
]
*
6
#q_ref = fullBody.referenceConfig_legsApart[::]+[0]*6
q_init
=
q_ref
[::]
fullBody
.
setReferenceConfig
(
q_ref
)
fullBody
.
setPostureWeights
(
fullBody
.
postureWeights
[::]
+
[
0
]
*
6
)
fullBody
.
usePosturalTaskContactCreation
(
True
)
"""
if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
heuristicR = "fixedStep08"
heuristicL = "fixedStep08"
print "Use weight for straight walk"
fullBody.usePosturalTaskContactCreation(True)
else :
print "Use weight for straff walk"
if tp.q_goal[1] < 0 :
print "start with right leg"
heuristicL = "static"
heuristicR = "fixedStep06"
else:
print "start with left leg"
heuristicR = "static"
heuristicL = "fixedStep06"
"""
fullBody
.
setCurrentConfig
(
q_init
)
print
"Generate limb DB ..."
tStart
=
time
.
time
()
# 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)
fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, heuristicL, 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.85)
fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
"""
#~ fullBody.loadAllLimbs("fixedStep04","ReferenceConfiguration")
fullBody
.
loadAllLimbs
(
"static"
,
"ReferenceConfiguration"
)
tGenerate
=
time
.
time
()
-
tStart
print
"Done."
print
"Databases generated in : "
+
str
(
tGenerate
)
+
" s"
#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
q_goal
=
q_init
[::];
q_goal
[
0
:
7
]
=
tp
.
ps
.
configAtParam
(
pId
,
tp
.
ps
.
pathLength
(
pId
))[
0
:
7
]
vel_init
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
tp
.
indexECS
:
tp
.
indexECS
+
3
]
acc_init
=
tp
.
ps
.
configAtParam
(
pId
,
0
)[
tp
.
indexECS
+
3
:
tp
.
indexECS
+
6
]
vel_goal
=
tp
.
ps
.
configAtParam
(
pId
,
tp
.
ps
.
pathLength
(
pId
))[
tp
.
indexECS
:
tp
.
indexECS
+
3
]
acc_goal
=
[
0
,
0
,
0
]
robTreshold
=
3
# copy extraconfig for start and init configurations
q_init
[
configSize
:
configSize
+
3
]
=
vel_init
[::]
q_init
[
configSize
+
3
:
configSize
+
6
]
=
acc_init
[::]
q_goal
[
configSize
:
configSize
+
3
]
=
vel_goal
[::]
q_goal
[
configSize
+
3
:
configSize
+
6
]
=
[
0
,
0
,
0
]
q_init
[
2
]
=
q_ref
[
2
]
q_goal
[
2
]
=
q_ref
[
2
]
fullBody
.
setStaticStability
(
True
)
fullBody
.
setCurrentConfig
(
q_init
)
v
(
q_init
)
fullBody
.
setCurrentConfig
(
q_goal
)
v
(
q_goal
)
v
.
addLandmark
(
'anymal/base_0'
,
0.3
)
v
(
q_init
)
#fullBody.setReferenceConfig(fullBody.referenceConfig_legsApart[::]+[0]*6)
# specify the full body configurations as start and goal state of the problem
normals
=
[[
0.
,
0.
,
1.
]
for
_
in
range
(
4
)]
if
q_goal
[
1
]
<
0
:
# goal on the right side of the circle, start motion with right leg first
fullBody
.
setStartState
(
q_init
,[
fullBody
.
rArmId
,
fullBody
.
rLegId
,
fullBody
.
lArmId
,
fullBody
.
lLegId
],
normals
)
fullBody
.
setEndState
(
q_goal
,[
fullBody
.
rArmId
,
fullBody
.
rLegId
,
fullBody
.
lArmId
,
fullBody
.
lLegId
],
normals
)
else
:
fullBody
.
setStartState
(
q_init
,[
fullBody
.
lArmId
,
fullBody
.
lLegId
,
fullBody
.
rArmId
,
fullBody
.
rLegId
],
normals
)
fullBody
.
setEndState
(
q_goal
,[
fullBody
.
lArmId
,
fullBody
.
lLegId
,
fullBody
.
rArmId
,
fullBody
.
rLegId
],
normals
)
print
"Generate contact plan ..."
tStart
=
time
.
time
()
configs
=
fullBody
.
interpolate
(
0.002
,
pathId
=
pId
,
robustnessTreshold
=
1
,
filterStates
=
True
,
quasiStatic
=
True
)
tInterpolateConfigs
=
time
.
time
()
-
tStart
print
"Done."
print
"Contact plan generated in : "
+
str
(
tInterpolateConfigs
)
+
" s"
print
"number of configs :"
,
len
(
configs
)
if
len
(
configs
)
<
2
:
cg_success
=
False
print
"Error during contact generation."
else
:
cg_success
=
True
print
"Contact generation Done."
if
abs
(
configs
[
-
1
][
0
]
-
tp
.
q_goal
[
0
])
<
0.01
and
abs
(
configs
[
-
1
][
1
]
-
tp
.
q_goal
[
1
])
<
0.01
and
(
len
(
fullBody
.
getContactsVariations
(
len
(
configs
)
-
2
,
len
(
configs
)
-
1
))
==
1
):
print
"Contact generation successful."
cg_reach_goal
=
True
else
:
print
"Contact generation failed to reach the goal."
cg_reach_goal
=
False
if
len
(
configs
)
>
10
:
cg_too_many_states
=
True
cg_success
=
False
print
"Discarded contact sequence because it was too long."
else
:
cg_too_many_states
=
False
f
=
open
(
statusFilename
,
"a"
)
f
.
write
(
"cg_success: "
+
str
(
cg_success
)
+
"
\n
"
)
f
.
write
(
"cg_reach_goal: "
+
str
(
cg_reach_goal
)
+
"
\n
"
)
f
.
write
(
"cg_too_many_states: "
+
str
(
cg_too_many_states
)
+
"
\n
"
)
f
.
close
()
if
(
not
cg_success
)
or
cg_too_many_states
or
(
not
cg_reach_goal
):
import
sys
sys
.
exit
(
1
)
# put back original bounds for wholebody methods
#~ fullBody.resetJointsBounds()
import
hpp.corbaserver.rbprm.fewstepsplanner
as
sp
states
=
sp
.
interpolateState
(
fullBody
,
0.002
,
pathId
=
pId
,
robustnessTreshold
=
1
,
filterStates
=
True
,
quasiStatic
=
True
)
fsp
=
sp
.
FewStepPlanner
(
tp
.
cl
,
tp
.
ps
,
tp
.
rbprmBuilder
,
fullBody
,
pathPlayer
=
tp
.
pp
)
#~ print "names ", fsp.rbprmBuilder.getAllJointNames()
#~ print "names ", tp.rbprmBuilder.getAllJointNames()
n_goal
=
tp
.
q_goal
[:
7
]
n_goal
[
0
]
+=
1
goal_state
=
states
[
-
1
].
q
()[:]
goal_state
[:
7
]
=
n_goal
fullBody
.
setStartState
(
states
[
-
1
].
q
(),[
fullBody
.
rArmId
,
fullBody
.
rLegId
,
fullBody
.
lArmId
,
fullBody
.
lLegId
],
normals
)
fullBody
.
setEndState
(
goal_state
,
[
fullBody
.
rArmId
,
fullBody
.
rLegId
,
fullBody
.
lArmId
,
fullBody
.
lLegId
],
normals
)
pId
=
fsp
.
guidePath
(
tp
.
q_goal
[:
7
],
n_goal
)
states2
=
sp
.
interpolateState
(
fullBody
,
0.002
,
pathId
=
pId
,
robustnessTreshold
=
1
,
filterStates
=
True
,
quasiStatic
=
True
,
erasePreviousStates
=
False
)
goal_state
[
6
]
=
-
1
fullBody
.
setStartState
(
states
[
-
1
].
q
(),[
fullBody
.
rArmId
,
fullBody
.
rLegId
,
fullBody
.
lArmId
,
fullBody
.
lLegId
],
normals
)
fullBody
.
setEndState
(
goal_state
,
[
fullBody
.
rArmId
,
fullBody
.
rLegId
,
fullBody
.
lArmId
,
fullBody
.
lLegId
],
normals
)
pId
=
fsp
.
guidePath
(
tp
.
q_goal
[:
7
],
n_goal
)
states3
=
sp
.
interpolateState
(
fullBody
,
0.001
,
pathId
=
pId
,
robustnessTreshold
=
1
,
filterStates
=
True
,
quasiStatic
=
True
,
erasePreviousStates
=
False
)
script/scenarios/sandbox/anymal_one_step/anymal_circle_one_step_path.py
0 → 100644
View file @
07d1f3c6
from
hpp.corbaserver.rbprm.anymal_abstract
import
Robot
from
hpp.gepetto
import
Viewer
from
hpp.corbaserver
import
ProblemSolver
import
numpy
as
np
import
time
#~ statusFilename = "/res/infos.log"
statusFilename
=
"/tmp/infos.log"
vMax
=
0.3
# linear velocity bound for the root
aMax
=
1.
# linear acceleration bound for the root
extraDof
=
6
mu
=
0.5
# coefficient of friction
# Creating an instance of the helper class, and loading the robot
# Creating an instance of the helper class, and loading the robot
rbprmBuilder
=
Robot
()
# Define bounds for the root : bounding box of the scenario
root_bounds
=
[
-
2
,
2
,
-
2
,
2
,
0.4
,
0.5
]
rbprmBuilder
.
setJointBounds
(
"root_joint"
,
root_bounds
)
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
rbprmBuilder
.
setFilter
(
rbprmBuilder
.
urdfNameRom
)
for
rom
in
rbprmBuilder
.
urdfNameRom
:
rbprmBuilder
.
setAffordanceFilter
(
rom
,
[
'Support'
])
# We also bound the rotations of the torso. (z, y, x)
rbprmBuilder
.
boundSO3
([
-
1.7
,
1.7
,
-
0.1
,
0.1
,
-
0.1
,
0.1
])
# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
rbprmBuilder
.
client
.
robot
.
setDimensionExtraConfigSpace
(
extraDof
)
# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
rbprmBuilder
.
client
.
robot
.
setExtraConfigSpaceBounds
([
-
vMax
,
vMax
,
-
vMax
,
vMax
,
0
,
0
,
-
aMax
,
aMax
,
-
aMax
,
aMax
,
0
,
0
])
indexECS
=
rbprmBuilder
.
getConfigSize
()
-
rbprmBuilder
.
client
.
robot
.
getDimensionExtraConfigSpace
()
# Creating an instance of HPP problem solver
ps
=
ProblemSolver
(
rbprmBuilder
)
# define parameters used by various methods :
ps
.
setParameter
(
"Kinodynamic/velocityBound"
,
vMax
)
ps
.
setParameter
(
"Kinodynamic/accelerationBound"
,
aMax
)
ps
.
setParameter
(
"DynamicPlanner/sizeFootX"
,
0.01
)
ps
.
setParameter
(
"DynamicPlanner/sizeFootY"
,
0.01
)
ps
.
setParameter
(
"DynamicPlanner/friction"
,
mu
)
# sample only configuration with null velocity and acceleration :
ps
.
setParameter
(
"ConfigurationShooter/sampleExtraDOF"
,
False
)
# initialize the viewer :
from
hpp.gepetto
import
ViewerFactory
vf
=
ViewerFactory
(
ps
)
# load the module to analyse the environnement and compute the possible contact surfaces
from
hpp.corbaserver.affordance.affordance
import
AffordanceTool
afftool
=
AffordanceTool
()
afftool
.
setAffordanceConfig
(
'Support'
,
[
0.5
,
0.03
,
0.00005
])
afftool
.
loadObstacleModel
(
"hpp_environments"
,
"multicontact/ground"
,
"planning"
,
vf
)
try
:
v
=
vf
.
createViewer
(
displayArrows
=
True
)
except
Exception
:
print
"No viewer started !"
class
FakeViewer
():
def
__init__
(
self
):
return
def
__call__
(
self
,
q
):
return
v
=
FakeViewer
()
#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
q_init
=
rbprmBuilder
.
getCurrentConfig
();
q_init
[
0
:
3
]
=
[
0
,
0
,
0.465
]
q_init
[
3
:
7
]
=
[
0
,
0
,
0
,
1
]
# sample random position on a circle of radius 2m
radius
=
0.15
import
random
random
.
seed
()
alpha
=
random
.
uniform
(
0.
,
2.
*
np
.
pi
)
print
"Test on a circle, alpha = "
,
alpha
q_goal
=
q_init
[::]
q_goal
[
0
:
3
]
=
[
radius
*
np
.
sin
(
alpha
),
-
radius
*
np
.
cos
(
alpha
),
0.465
]
print
"initial root position : "
,
q_init
[
0
:
3
]
print
"final root position : "
,
q_goal
[
0
:
3
]
ps
.
setInitialConfig
(
q_init
)
ps
.
addGoalConfig
(
q_goal
)
# write problem in files :
f
=
open
(
statusFilename
,
"w"
)
f
.
write
(
"q_init= "
+
str
(
q_init
)
+
"
\n
"
)
f
.
write
(
"q_goal= "
+
str
(
q_goal
)
+
"
\n
"
)
f
.
close
()
# Choosing RBPRM shooter and path validation methods.
ps
.
selectConfigurationShooter
(
"RbprmShooter"
)
ps
.
selectPathValidation
(
"RbprmPathValidation"
,
0.05
)
# Choosing kinodynamic methods :
ps
.
selectSteeringMethod
(
"RBPRMKinodynamic"
)
ps
.
selectDistance
(
"Kinodynamic"
)
ps
.
selectPathPlanner
(
"DynamicPlanner"
)
# Solve the planning problem :
t
=
ps
.
solve
()
print
"Guide planning time : "
,
t
try
:
# display solution :
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
v
)
pp
.
dt
=
0.1
pp
.
displayVelocityPath
(
0
)
#v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp
.
dt
=
0.01
#pp(0)
except
Exception
:
pass
# move the robot out of the view before computing the contacts
q_far
=
q_init
[::]
q_far
[
2
]
=
-
2
pId
=
ps
.
numberPaths
()
-
1
from
hpp.corbaserver
import
Client
#~ #DEMO code to play root path and final contact plan
cl
=
Client
()
cl
.
problem
.
selectProblem
(
"rbprm_path"
)
rbprmBuilder2
=
Robot
(
"toto"
)
ps2
=
ProblemSolver
(
rbprmBuilder2
)
cl
.
problem
.
selectProblem
(
"default"
)
cl
.
problem
.
movePathToProblem
(
pId
,
"rbprm_path"
,
rbprmBuilder
.
getAllJointNames
()[
1
:])
r2
=
Viewer
(
ps2
,
viewerClient
=
v
.
client
)
r2
(
q_far
)
#~ v(q_far)
script/scenarios/sandbox/anymal_one_step/run.sh
0 → 100644
View file @
07d1f3c6
#!/bin/bash
gepetto-gui &
hpp-rbprm-server &
ipython
-i
--no-confirm-exit
./
$1
pkill
-f
'gepetto-gui'
pkill
-f
'hpp-rbprm-server'
script/scenarios/sandbox/anymal_one_step/test_both.py
0 → 100644
View file @
07d1f3c6
src/hpp/corbaserver/rbprm/fewstepsplanner.py
0 → 100644
View file @
07d1f3c6
#!/usr/bin/env python
# Copyright (c) 2014 CNRS
# Author: Steve Tonneau
#
# This file is part of hpp-rbprm-corba.
# hpp-rbprm-corba is free software: you can redistribute it
# and/or modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation, either version
# 3 of the License, or (at your option) any later version.
#
# hpp-manipulation-corba is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# hpp-manipulation-corba. If not, see
# <http://www.gnu.org/licenses/>.
from
hpp.corbaserver.rbprm
import
Client
as
RbprmClient
from
hpp.corbaserver
import
Client
as
BasicClient
#from hpp.corbaserver.rbprm.tools.com_constraints import *
from
numpy
import
array
from
hpp.corbaserver.rbprm
import
rbprmstate
from
hpp.corbaserver.rbprm.rbprmstate
import
State
def
interpolateState
(
fullBody
,
stepsize
,
pathId
=
1
,
robustnessTreshold
=
0
,
filterStates
=
False
,
testReachability
=
True
,
quasiStatic
=
False
,
erasePreviousStates
=
False
):
if
(
filterStates
):
filt
=
1
else
:
filt
=
0
configs
=
fullBody
.
clientRbprm
.
rbprm
.
interpolate
(
stepsize
,
pathId
,
robustnessTreshold
,
filt
,
testReachability
,
quasiStatic
,
erasePreviousStates
)
firstStateId
=
fullBody
.
clientRbprm
.
rbprm
.
getNumStates
()
-
len
(
configs
)
return
[
State
(
fullBody
,
i
)
for
i
in
range
(
firstStateId
,
firstStateId
+
len
(
configs
))
]
def
guidePath
(
problemSolver
,
fromPos
,
toPos
):
ps
=
problemSolver
ps
.
setInitialConfig
(
fromPos
)
ps
.
addGoalConfig
(
toPos
)
ps
.
solve
()
return
ps
.
numberPaths
()
-
1
class
FewStepPlanner
(
object
):
def
__init__
(
self
,
client
,
problemSolver
,
rbprmBuilder
,
fullBody
,
planContext
=
"rbprm_path"
,
fullBodyContext
=
"default"
,
pathPlayer
=
None
):
self
.
fullBody
=
fullBody
self
.
rbprmBuilder
=
rbprmBuilder
self
.
client
=
client
self
.
planContext
=
planContext
self
.
fullBodyContext
=
fullBodyContext
self
.
problemSolver
=
problemSolver
self
.
pathPlayer
=
pathPlayer
def
setPlanningContext
(
self
):
self
.
client
.
problem
.
selectProblem
(
self
.
planContext
)
def
setFullBodyContext
(
self
):
self
.
client
.
problem
.
selectProblem
(
self
.
fullBodyContext
)
def
setCurrentContext
(
self
,
context
):
return
self
.
client
.
problem
.
selectProblem
(
context
)
def
currentContext
(
self
):
return
self
.
client
.
problem
.
getSelected
(
"problem"
)[
0
]
def
_actInContext
(
self
,
context
,
f
,
*
args
):
oldContext
=
self
.
currentContext
()
self
.
setCurrentContext
(
context
)
res
=
f
(
*
args
)
self
.
setCurrentContext
(
oldContext
)
return
res
def
guidePath
(
self
,
fromPos
,
toPos
):
pId
=
self
.
_actInContext
(
self
.
planContext
,
guidePath
,
self
.
problemSolver
,
fromPos
,
toPos
)
self
.
setPlanningContext
()
names
=
self
.
rbprmBuilder
.
getAllJointNames
()[
1
:]
self
.
pathPlayer
(
pId
)
self
.
client
.
problem
.
movePathToProblem
(
pId
,
self
.
fullBodyContext
,
names
)
self
.
setFullBodyContext
()
return
pId
src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
07d1f3c6
...
...
@@ -259,7 +259,7 @@ class FullBody (Robot):
## Get the number of existing states in the client
#
def
getNumStates
(
self
,
limbName
):
def
getNumStates
(
self
):
return
self
.
clientRbprm
.
rbprm
.
getNumStates
()
## Get the number of octreeNodes
...
...
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