[script] update working script for anymal flat-floor / modular

script/scenarios/sandbox/ANYmal/anymal_flatGround.py

@@ -36,11 +36,11 @@ q_init = q_ref[::]
 fullBody.setReferenceConfig(q_ref)
 fullBody.setCurrentConfig (q_init)
 fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
-fullBody.usePosturalTaskContactCreation(True)
+#fullBody.usePosturalTaskContactCreation(True)
 
 print "Generate limb DB ..."
 tStart = time.time()
-fullBody.loadAllLimbs("fixedStep04","ReferenceConfiguration")
+fullBody.loadAllLimbs("fixedStep04","ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
@@ -51,12 +51,12 @@ configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraCo
 
 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]
-dir_init = tp.ps.configAtParam(pId,0.)[tp.indexECS:tp.indexECS+3]
+dir_init = [0,0,0]
 acc_init = tp.ps.configAtParam(pId,0.)[tp.indexECS+3:tp.indexECS+6]
 dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[tp.indexECS:tp.indexECS+3]
 acc_goal = [0,0,0]
 
-robTreshold = 2
+robTreshold = 5
 # copy extraconfig for start and init configurations
 q_init[configSize:configSize+3] = dir_init[::]
 q_init[configSize+3:configSize+6] = acc_init[::]
@@ -66,30 +66,30 @@ q_goal[configSize+3:configSize+6] = [0,0,0]
 q_init[2] = q_ref[2]
 q_goal[2] = q_ref[2]
 
+normals = [[0.,0.,1.] for _ in range(4)]
 fullBody.setStaticStability(True)
 fullBody.setCurrentConfig (q_init)
 v(q_init)
+fullBody.setStartState(q_init,Robot.limbs_names,normals)
+fullBody.setEndState(q_goal,Robot.limbs_names,normals)
 
 fullBody.setCurrentConfig (q_goal)
 v(q_goal)
 
+
 v.addLandmark('anymal/base',0.3)
-v(q_init)
-z = [0.,0.,1]
-# specify the full body configurations as start and goal state of the problem
-fullBody.setStartState(q_init,fullBody.limbs_names, [z for _ in range(4)])
-fullBody.setEndState(q_goal,fullBody.limbs_names, [z for _ in range(4)])
 
 
 print "Generate contact plan ..."
 tStart = time.time()
-configs = fullBody.interpolate(0.002,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
+configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
 tInterpolateConfigs = time.time() - tStart
-print "Done. "
-print "Contact sequence computed in "+str(tInterpolateConfigs)+" s."
+print "Done."
+print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
 print "number of configs :", len(configs)
 #raw_input("Press Enter to display the contact sequence ...")
 #displayContactSequence(v,configs)
 
+
 fullBody.resetJointsBounds()
 

script/scenarios/sandbox/ANYmal/anymal_flatGround_path.py

@@ -36,7 +36,7 @@ ps = ProblemSolver( rbprmBuilder )
 ps.setParameter("Kinodynamic/velocityBound",vMax)
 ps.setParameter("Kinodynamic/accelerationBound",aMax)
 # force the orientation of the trunk to match the direction of the motion
-ps.setParameter("Kinodynamic/forceOrientation",True)
+ps.setParameter("Kinodynamic/forceAllOrientation",True)
 ps.setParameter("DynamicPlanner/sizeFootX",0.01)
 ps.setParameter("DynamicPlanner/sizeFootY",0.01)
 ps.setParameter("DynamicPlanner/friction",mu)

script/scenarios/sandbox/ANYmal/anymal_modular_palet_low.py

@@ -4,6 +4,7 @@ from tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
 import scenarios.sandbox.ANYmal.anymal_modular_palet_low_path as tp
+
 #Robot.urdfSuffix += "_safeFeet"
 statusFilename = tp.statusFilename
 pId = tp.pid
@@ -68,7 +69,7 @@ print "Generate limb DB ..."
 tStart = time.time()
 # generate databases : 
 
-fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=100000)
+fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
@@ -83,8 +84,8 @@ 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 = 2
+vel_init = [0,0,0]
+robTreshold = 5
 # copy extraconfig for start and init configurations
 q_init[configSize:configSize+3] = vel_init[::]
 q_init[configSize+3:configSize+6] = acc_init[::]

script/scenarios/sandbox/ANYmal/anymal_modular_palet_low_path.py

@@ -6,7 +6,7 @@ from pinocchio import Quaternion
 import numpy as np
 import time
 import math
-statusFilename = "/res/infos.log"
+statusFilename = "infos.log"
 
 Z_VALUE = 0.465
 Y_VALUE = -0.1
@@ -59,7 +59,8 @@ vf = ViewerFactory (ps)
 from hpp.corbaserver.affordance.affordance import AffordanceTool
 afftool = AffordanceTool ()
 afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel ("hpp_environments", "ori/modular_palet_low", "planning", vf, reduceSizes=[0.06,0,0])
+afftool.setMinimumArea('Support',0.03)
+afftool.loadObstacleModel ("hpp_environments", "ori/modular_palet_low_collision", "planning", vf, reduceSizes=[0.1,0,0])
 #afftool.loadObstacleModel ("hpp_environments", "ori/modular_palet_low", "planning", vf)
 try :
     v = vf.createViewer(displayArrows = True)
@@ -72,7 +73,7 @@ except Exception:
             return
     v = FakeViewer()
     
-#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+afftool.visualiseAffordances('Support', v, v.color.lightBrown)
 
 #v.addLandmark(v.sceneName,1)
 q_init = rbprmBuilder.getCurrentConfig ();