downSlope path work, interp fail during transition slope/flat ground

CMakeLists.txt

@@ -211,6 +211,7 @@ install(FILES
 	data/meshes/hyq/hyq_trunk.stl
 	data/meshes/hyq/hyq_trunk_large.stl
 	data/meshes/hyq/hyq_trunk_large2.stl
+	data/meshes/hyq/hyq_trunk_large3.stl
 	data/meshes/hyq/hyq_rom.stl
 	data/meshes/hyq/hyq_rhleg_rom.stl
 	data/meshes/hyq/hyq_rfleg_rom.stl

data/urdf/hrp2_trunk_flexible.urdf

@@ -7,6 +7,10 @@
     <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>
   <link name="BODY">   
+  <inertial>
+     <mass value="58.0"/>
+     <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
+  </inertial>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
@@ -63,11 +67,6 @@
     <limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
   </joint>
   <link name="HEAD_LINK0">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
-      <mass value="0.374766"/>
-      <inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
-    </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
@@ -90,11 +89,6 @@
   </joint>
   <!-- VRML link name="HEAD_LINK1" -->
   <link name="HEAD_LINK1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
-      <mass value="0.993355"/>
-      <inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
-    </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>

data/urdf/hyq/hyq_trunk_large.urdf

@@ -16,7 +16,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk_large.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk_large3.stl"/>
       </geometry>
     </collision>
   </link>

script/dynamic/downSlope_hrp2_interp.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+import downSlope_hrp2_pathKino as tp
+import time
+
+
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+#  Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+pId = tp.ps.numberPaths() -1
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz",  [-2,5, 0, 2, 0.45, 1.8])
+fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
+
+ps = tp.ProblemSolver( fullBody )
+ps.client.problem.setParameter("aMax",tp.aMax)
+ps.client.problem.setParameter("vMax",tp.vMax)
+r = tp.Viewer (ps,viewerClient=tp.r.client)
+
+#~ AFTER loading obstacles
+rLegId = 'hrp2_rleg_rom'
+rLeg = 'RLEG_JOINT0'
+rLegOffset = [0,0,-0.105]
+rLegNormal = [0,0,1]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "EFORT_Normal", 0.1)
+
+lLegId = 'hrp2_lleg_rom'
+lLeg = 'LLEG_JOINT0'
+lLegOffset = [0,0,-0.105]
+lLegNormal = [0,0,1]
+lLegx = 0.09; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 50000, "EFORT_Normal", 0.1)
+
+
+
+
+q_0 = fullBody.getCurrentConfig(); 
+#~ fullBody.createOctreeBoxes(r.client.gui, 1, rarmId, q_0,)
+
+
+q_init =[0.1, -0.82, 0.648702, 1.0, 0.0 , 0.0, 0.0,0.0, 0.0, 0.0, 0.0,0.261799388,  0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0,0,0,0,0,0]; r (q_init)
+fullBody.setCurrentConfig (q_init)
+
+configSize = fullBody.getConfigSize() -fullBody.client.basic.robot.getDimensionExtraConfigSpace()
+
+q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.ps.configAtParam(pId,0.01)[0:7] # use this to get the correct orientation
+q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
+dir_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS:tp.indexECS+3]
+acc_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS+3:tp.indexECS+6]
+dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.01)[tp.indexECS:tp.indexECS+3]
+acc_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.01)[tp.indexECS+3:tp.indexECS+6]
+
+robTreshold = 1
+# copy extraconfig for start and init configurations
+q_init[configSize:configSize+3] = dir_init[::]
+q_init[configSize+3:configSize+6] = acc_init[::]
+q_goal[configSize:configSize+3] = dir_goal[::]
+q_goal[configSize+3:configSize+6] = acc_goal[::]
+
+fullBody.setStaticStability(False)
+# Randomly generating a contact configuration at q_init
+fullBody.setCurrentConfig (q_init)
+r(q_init)
+q_init = fullBody.generateContacts(q_init,dir_init,acc_init,robTreshold)
+r(q_init)
+
+# Randomly generating a contact configuration at q_end
+fullBody.setCurrentConfig (q_goal)
+q_goal = fullBody.generateContacts(q_goal, dir_goal,acc_goal,robTreshold)
+r(q_goal)
+
+# specifying the full body configurations as start and goal state of the problem
+
+r(q_init)
+
+
+fullBody.setStartState(q_init,[rLegId,lLegId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])
+
+
+
+configs = fullBody.interpolate(0.08,pathId=pId,robustnessTreshold = 1, filterStates = True)
+print "number of configs :", len(configs)
+
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (fullBody.client.basic, r)
+
+from fullBodyPlayer import Player
+player = Player(fullBody,pp,tp,configs,draw=False,optim_effector=False,use_velocity=True,pathId = pId)
+
+player.displayContactPlan()
+
+
+

script/dynamic/downSlope_hrp2_pathKino.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+from hpp.corbaserver import Client
+from hpp.corbaserver.robot import Robot as Parent
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+class Robot (Parent):
+	rootJointType = 'freeflyer'
+	packageName = 'hpp-rbprm-corba'
+	meshPackageName = 'hpp-rbprm-corba'
+	# URDF file describing the trunk of the robot HyQ
+	urdfName = 'hrp2_trunk_flexible'
+	urdfSuffix = ""
+	srdfSuffix = ""
+	def __init__ (self, robotName, load = True):
+		Parent.__init__ (self, robotName, self.rootJointType, load)
+		self.tf_root = "base_footprint"
+		self.client.basic = Client ()
+		self.load = load
+		
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk_flexible'
+urdfNameRom =  ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+vMax = 4;
+aMax = 6;
+extraDof = 6
+
+# Creating an instance of the helper class, and loading the robot
+rbprmBuilder = Builder ()
+rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+#rbprmBuilder.setJointBounds ("base_joint_xyz", [-1.25,2, -0.5, 5.5, 0.6, 1.8])
+rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,4, 0, 2, 0.2, 1.8])
+rbprmBuilder.setJointBounds('CHEST_JOINT0',[0,0])
+rbprmBuilder.setJointBounds('CHEST_JOINT1',[-0.35,0.1])
+rbprmBuilder.setJointBounds('HEAD_JOINT0',[0,0])
+rbprmBuilder.setJointBounds('HEAD_JOINT1',[0,0])
+
+# The following lines set constraint on the valid configurations:
+# a configuration is valid only if all limbs can create a contact ...
+rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-0.1,0.1,-0.65,0.65,-0.2,0.2])
+rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof)
+rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([-4,4,-1,1,-2,2,0,0,0,0,0,0])
+indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace()
+
+# Creating an instance of HPP problem solver and the viewer
+
+ps = ProblemSolver( rbprmBuilder )
+ps.client.problem.setParameter("aMax",aMax)
+ps.client.problem.setParameter("vMax",vMax)
+ps.client.problem.setParameter("sizeFootX",0.24)
+ps.client.problem.setParameter("sizeFootY",0.14)
+r = Viewer (ps)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel (packageName, "downSlope", "planning", r)
+#r.loadObstacleModel (packageName, "ground", "planning")
+afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+r.addLandmark(r.sceneName,1)
+
+# Setting initial and goal configurations
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[3:7] = [1,0,0,0]
+q_init[8] = -0.2
+q_init [0:3] = [-1.6, 1, 1.75]; r (q_init)
+
+#q_init[3:7] = [0.7071,0,0,0.7071]
+#q_init [0:3] = [1, 1, 0.65]
+
+rbprmBuilder.setCurrentConfig (q_init)
+q_goal = q_init [::]
+
+
+q_goal[3:7] = [1,0,0,0]
+q_goal[8] = 0
+q_goal [0:3] = [3, 1, 0.55]; r (q_goal)
+
+r (q_goal)
+#~ q_goal [0:3] = [-1.5, 0, 0.63]; r (q_goal)
+
+# Choosing a path optimizer
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+# Choosing RBPRM shooter and path validation methods.
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
+# Choosing kinodynamic methods : 
+ps.selectSteeringMethod("RBPRMKinodynamic")
+ps.selectDistance("KinodynamicDistance")
+ps.selectPathPlanner("DynamicPlanner")
+
+#solve the problem :
+r(q_init)
+
+
+#r.solveAndDisplay("rm",1,0.01)
+
+
+ps.solve()
+
+#ps.client.problem.prepareSolveStepByStep()
+
+#ps.client.problem.finishSolveStepByStep()
+
+q_far = q_init[::]
+q_far[2] = -3
+r(q_far)
+
+
+
+
+
+"""
+camera = [0.6293167471885681,
+ -9.560577392578125,
+ 10.504343032836914,
+ 0.9323806762695312,
+ 0.36073973774909973,
+ 0.008668755181133747,
+ 0.02139890193939209]
+r.client.gui.setCameraTransform(0,camera)
+"""
+
+"""
+r.client.gui.removeFromGroup("rm",r.sceneName)
+r.client.gui.removeFromGroup("rmstart",r.sceneName)
+r.client.gui.removeFromGroup("rmgoal",r.sceneName)
+for i in range(0,ps.numberNodes()):
+  r.client.gui.removeFromGroup("vecRM"+str(i),r.sceneName)
+
+"""
+
+# for seed 1486657707
+ps.client.problem.extractPath(0,0,2.15) 
+
+# Playing the computed path
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+pp.dt=0.03
+pp.displayVelocityPath(1)
+r.client.gui.setVisibility("path_1_root","ALWAYS_ON_TOP")
+#display path
+pp.speed=0.3
+#pp (0)
+
+#display path with post-optimisation
+
+
+
+
+"""
+q_far = q_init[::]
+q_far[2] = -3
+r(q_far)
+"""
+
+
+
+

script/dynamic/downSlope_hyq_interpKino.py

@@ -62,6 +62,13 @@ dir_goal = tp.ps.configAtParam(pathId,tp.ps.pathLength(pathId))[7:10]
 acc_goal = tp.ps.configAtParam(pathId,tp.ps.pathLength(pathId))[10:13]
 configSize = fullBody.getConfigSize() -fullBody.client.basic.robot.getDimensionExtraConfigSpace()
 
+# copy extraconfig for start and init configurations
+q_init[configSize:configSize+3] = dir_init[::]
+q_init[configSize+3:configSize+6] = acc_init[::]
+q_goal[configSize:configSize+3] = dir_goal[::]
+q_goal[configSize+3:configSize+6] = acc_goal[::]
+
+
 fullBody.setStaticStability(False)
 # Randomly generating a contact configuration at q_init
 fullBody.setCurrentConfig (q_init)
@@ -71,11 +78,7 @@ q_init = fullBody.generateContacts(q_init,dir_init,acc_init)
 fullBody.setCurrentConfig (q_goal)
 q_goal = fullBody.generateContacts(q_goal, dir_goal,acc_goal)
 
-# copy extraconfig for start and init configurations
-q_init[configSize:configSize+3] = dir_init[::]
-q_init[configSize+3:configSize+6] = acc_init[::]
-q_goal[configSize:configSize+3] = dir_goal[::]
-q_goal[configSize+3:configSize+6] = acc_goal[::]
+
 # specifying the full body configurations as start and goal state of the problem
 fullBody.setStartState(q_init,[larmId,rLegId,rarmId,lLegId])
 fullBody.setEndState(q_goal,[larmId,rLegId,rarmId,lLegId])

script/dynamic/downSlope_hyq_pathKino.py

@@ -9,7 +9,7 @@ rootJointType = 'freeflyer'
 packageName = 'hpp-rbprm-corba'
 meshPackageName = 'hpp-rbprm-corba'
 # URDF file describing the trunk of the robot HyQ
-urdfName = 'hyq_trunk'
+urdfName = 'hyq_trunk_large'
 # URDF files describing the reachable workspace of each limb of HyQ
 urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom']
 urdfSuffix = ""

script/tools/screenCap.py

@@ -38,7 +38,7 @@ tp.r.stopCapture ()
 """
 
 ## avconv (bash) commands
-avconv -i capture_0_%d.png -r 30 -vcodec mpeg4 -qscale 1 -mbd rd -flags +mv4+aic -trellis 2 -cmp 2 -subcmp 2 -g 300 -y sideWall_hyq_contactsPlan2.mp4
+avconv -i capture_0_%d.png -r 30 -vcodec mpeg4 -qscale 1 -mbd rd -flags +mv4+aic -trellis 2 -cmp 2 -subcmp 2 -g 300 -y downSlope_hyq_contactPlan1.mp4
 
 avconv -i capture_0_%d.png -r 30 -vcodec mpeg4 -qscale 1 -mbd rd -flags +mv4+aic -trellis 2 -cmp 2 -subcmp 2 -g 300 -pass 2  hyq_darpa.mp4