Merge pull request #47 from pFernbach/devel

addNewContact with rotation, add tools/scenario scripts 

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -778,8 +778,9 @@ module hpp
     /// \param max_num_sample number of times it will try to randomly sample a configuration before failing
     /// \param lockOtherJoints : if True, the values of all the joints exepct the ones of 'limbName' are constrained to be constant.
     ///                           This only affect the first projection, if max_num_sample > 0 and the first projection was unsuccessfull, the parameter is ignored
+    /// \param rotation : desired rotation of the end-effector in contact, expressed as Quaternion (x,y,z,w). If different from zero, the normal is ignored. Otherwise the rotation is automatically computed from the normal (with one axis of freedom)
     /// \return (success,NState) whether the creation was successful, as well as the new state
-    short addNewContact(in unsigned short stateId, in string limbName, in floatSeq position, in floatSeq normal, in unsigned short max_num_sample, in boolean lockOtherJoints) raises (Error);
+    short addNewContact(in unsigned short stateId, in string limbName, in floatSeq position, in floatSeq normal, in unsigned short max_num_sample, in boolean lockOtherJoints,in floatSeq rotation) raises (Error);
 
     /// removes a contact from the state
     /// if the limb is not already in contact, does nothing

script/scenarios/demos/talos_plateformes.py

@@ -6,7 +6,7 @@ print "Plan guide trajectory ..."
 import talos_plateformes_path as tp
 print "Done."
 import time
-
+Robot.urdfSuffix+="_safeFeet"
 pId = tp.ps.numberPaths() -1
 fullBody = Robot ()
 

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

+from hpp.corbaserver.rbprm.anymal import Robot
+from hpp.gepetto import Viewer
+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
+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 ()
+
+# Set the bounds for the root
+rootBounds = tp.rootBounds[::]
+
+rootBounds[0] -= 0.2
+rootBounds[1] += 0.2
+rootBounds[2] -= 0.5
+rootBounds[3] += 0.5
+rootBounds[4] -= 0.2
+rootBounds[5] += 0.2
+fullBody.setJointBounds ("root_joint",  rootBounds)
+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,-tp.vMax,tp.vMax,-tp.aMax,tp.aMax,-tp.aMax,tp.aMax,-tp.aMaxZ,tp.aMaxZ])
+ps = tp.ProblemSolver( fullBody )
+ps.setParameter("Kinodynamic/velocityBound",tp.vMax)
+ps.setParameter("Kinodynamic/accelerationBound",tp.aMax)
+ps.setParameter("FullBody/frictionCoefficient",tp.mu)
+#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_init = q_ref[::]
+fullBody.setReferenceConfig(q_ref)
+fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
+#fullBody.usePosturalTaskContactCreation(True)
+
+fullBody.setCurrentConfig (q_init)
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases : 
+
+fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
+tGenerate =  time.time() - tStart
+print "Done."
+print "Databases generated in : "+str(tGenerate)+" s"
+v.addLandmark('anymal/base_0',0.2)
+
+#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]
+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[::]
+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]
+
+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)
+
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.001,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=True,quasiStatic=True)
+tInterpolateConfigs = time.time() - tStart
+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)
+
+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
+
+f = open(statusFilename,"a")
+f.write("cg_success: "+str(cg_success)+"\n")
+f.write("cg_reach_goal: "+str(cg_reach_goal)+"\n")
+f.close()
+
+if (not cg_success):
+  import sys
+  sys.exit(1)
+
+#beginId = 2
+
+# put back original bounds for wholebody methods
+fullBody.resetJointsBounds()
+#displayContactSequence(v,configs)

script/scenarios/sandbox/ANYmal/anymal_modular_palet_low_path.py

+from hpp.corbaserver.rbprm.anymal_abstract import Robot
+Robot.urdfName += "_large"
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+from pinocchio import Quaternion
+import numpy as np
+import time
+import math
+statusFilename = "infos.log"
+
+Z_VALUE = 0.465
+Y_VALUE = -0.1
+vInit = 0.3
+vMax = 0.5# linear velocity bound for the root
+aMax = 0.5# linear acceleration bound for the root
+aMaxZ = 5.
+extraDof = 6
+mu=0.3# 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
+rootBounds = [-1.7,1.7, Y_VALUE-0.001, Y_VALUE+0.001, Z_VALUE-0.001, Z_VALUE+0.231]
+rbprmBuilder.setJointBounds ("root_joint", rootBounds)
+
+# 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(Robot.urdfNameRom)
+for rom in rbprmBuilder.urdfNameRom :
+    rbprmBuilder.setAffordanceFilter(rom, ['Support'])
+
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-3.14,3.14,-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,-vMax,vMax,-aMax,aMax,-aMax,aMax,-aMaxZ,aMaxZ])
+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("Kinodynamic/verticalAccelerationBound",aMaxZ)
+ps.setParameter("Kinodynamic/forceAllOrientation",True)
+ps.setParameter("DynamicPlanner/sizeFootX",0.2)
+ps.setParameter("DynamicPlanner/sizeFootY",0.12)
+ps.setParameter("DynamicPlanner/friction",mu)
+# sample only configuration with null velocity and acceleration :
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",100)
+
+# 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.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)
+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)
+
+#v.addLandmark(v.sceneName,1)
+q_init = rbprmBuilder.getCurrentConfig ();
+
+
+q_init[2] = Z_VALUE
+q_init[0:2] = [-1.6,Y_VALUE]
+q_init[-6] = vInit
+v(q_init)
+
+q_goal=q_init[::]
+q_goal[0] = 1.6
+
+
+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")
+ps.addPathOptimizer ("RandomShortcutDynamic")
+
+
+# Solve the planning problem :
+t = ps.solve()
+print "Guide planning done in "+str(t)+", optimizing trajectory ..."
+pid = ps.numberPaths()-1
+
+for i in range(20):
+  ps.optimizePath(pid)
+  pid = ps.numberPaths()-1
+
+try :
+    # display solution : 
+    from hpp.gepetto import PathPlayer
+    pp = PathPlayer (v)
+    pp.dt=0.1
+    pp.displayPath(pid)#pp.displayVelocityPath(0) #
+    v.client.gui.setVisibility("path_"+str(pid)+"_root","ALWAYS_ON_TOP")
+    pp.dt=0.01
+    pp(pid)
+except Exception:
+    pass
+
+# move the robot out of the view before computing the contacts
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+

script/scenarios/sandbox/anymal_one_step/anymal_box.py

+import setup_one_step as sos
+
+
+fsp = sos.fewStepPlanner #planner instance
+q_init =  sos.q_init  #initial configuration
+initState = sos.initState #initial state. 
+viewer = sos.v
+
+### Go somewhere
+
+n_goal = q_init[:7][:]
+n_goal[0] += .5
+n_goal[1] += 0
+#~ n_goal[2] = [0.,0.,0.7071,0.7071]
+n_goal[3:7] = [0.,0.,0.7071,0.7071]
+#~ sos.fullBody.toggleNonContactingLimb(sos.fullBody.prongFrontId)
+states, configs = fsp.goToQuasiStatic(initState,n_goal, stepsize = 0.001,  displayGuidePath = False, erasePreviousStates = True)
+#~ pId = fsp.guidePath(initState.q()[:7], n_goal, displayPath = True)
+#~ fsp.setPlanningContext()
+#~ fsp.pathPlayer(pId)
+#equivalent to
+ # fsp.goToQuasiStatic(self, initState, n_goal, stepsize = 0.002, goalLimbsInContact = None, goalNormals = None, displayGuidePath = False)
+
+
+#display computed States:
+
+#~ n_goal[3:7] = [0.,0.,0.7071,0.7071]
+
+#~ s = states[-1] #last state computed
+#~ states, configs = fsp.goToQuasiStatic(s,n_goal, displayGuidePath = False, erasePreviousStates = True, stepsize = 0.001)
+
+#display configuration
+#~ viewer(s.q())
+
+#~ states+=states2
+#~ configs+=configs2
+
+configs = [q + [0. for _ in range(6)] for q in configs]
+
+fullBody = sos.fullBody
+v = viewer
+
+#~ sos.dispContactPlan(states,0.051) #2nd argument is frame rateue
+
+#some helpers: 
+#~ s.q() # configuration associated to state
+#~ initState. # configuration associated to state
+
+#~ from hpp.corbaserver.rbprm import rbprmstate
+#~ target = sos.fullBody.getJointPosition(sos.fullBody.prongFrontId)[:3]
+#~ target[2] = 0.
+
+
+#~ s = rbprmstate.StateHelper.cloneState(states[-1])[0]
+#~ fb = sos.fullBody
+
+#~ sos.fullBody.toggleNonContactingLimb(sos.fullBody.prongFrontId)
+#~ rbprmstate.StateHelper.addNewContact(s,sos.fullBody.prongFrontId,target,[0.,0.,1.])
+fullBody.resetJointsBounds()
+

script/scenarios/sandbox/anymal_one_step/anymal_box.sh

+#! /bin/bash
+
+
+gepetto-gui &
+hpp-rbprm-server &
+cp *.py /media/data/dev/linux/hpp/src/hpp-rbprm-corba/script/scenarios/memmo
+#~ ipython -i --no-confirm-exit $DEVEL_HPP_DIR/src/multicontact-locomotion-planning/scripts/run_mlp.py talos_circle
+ipython -i --no-confirm-exit $DEVEL_HPP_DIR/src/multicontact-locomotion-planning/scripts/run_mlp.py anymal_box.py
+
+pkill -f  'gepetto-gui'
+pkill -f  'hpp-rbprm-server'
+

script/scenarios/sandbox/anymal_one_step/config.py

-SCENE="multicontact/ground"
+SCENE="multicontact/anymal_box"
 INIT_CONFIG_ROOT =   [0,0,0.465,0,0,0,1]
 INIT_CONFIG_WB   =   None
 ROOT_BOUNDS      =  [-20,20, -20, 20, 0.1, 0.6]

script/scenarios/sandbox/anymal_one_step/demo.py

@@ -9,24 +9,36 @@ viewer = sos.v
 ### Go somewhere
 
 n_goal = q_init[:7][:]
-n_goal[0] += 2
-n_goal[1] += 1
-n_goal[3:7] = [0.,0.,0.7071,0.7071]
+n_goal[0] += 3
+n_goal[1] += 0
+#~ n_goal[2] = [0.,0.,0.7071,0.7071]
+#~ n_goal[3:7] = [0.,0.,0.7071,0.7071]
 #~ sos.fullBody.toggleNonContactingLimb(sos.fullBody.prongFrontId)
-states, configs = fsp.goToQuasiStatic(initState,n_goal, displayGuidePath = True)
+states, configs = fsp.goToQuasiStatic(initState,n_goal, displayGuidePath = False)
+#~ pId = fsp.guidePath(initState.q()[:7], n_goal, displayPath = True)
+#~ fsp.setPlanningContext()
+#~ fsp.pathPlayer(pId)
 #equivalent to
  # fsp.goToQuasiStatic(self, initState, n_goal, stepsize = 0.002, goalLimbsInContact = None, goalNormals = None, displayGuidePath = False)
 
 
 #display computed States:
-#~ sos.dispContactPlan(states,0.051) #2nd argument is frame rateue
 
+n_goal[3:7] = [0.,0.,0.7071,0.7071]
 
 s = states[-1] #last state computed
+states2, configs2 = fsp.goToQuasiStatic(s,n_goal, displayGuidePath = False)
 
 #display configuration
 viewer(s.q())
 
+states+=states2
+configs+=configs2
+
+configs = [q + [0. for _ in range(6)] for q in configs]
+
+sos.dispContactPlan(states,0.051) #2nd argument is frame rateue
+
 #some helpers: 
 s.q() # configuration associated to state
 #~ initState. # configuration associated to state

script/scenarios/sandbox/talos_maze_path.py

+from hpp.corbaserver.rbprm.talos_abstract import Robot
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+import numpy as np
+from pinocchio import Quaternion
+import time
+
+Robot.urdfName += "_large"
+
+vMax = 0.5# linear velocity bound for the root
+aMax = 0.7# 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
+rbprmBuilder.setJointBounds ("root_joint", [0,18.5, 0, 24., rbprmBuilder.ref_height, rbprmBuilder.ref_height])
+rbprmBuilder.setJointBounds ('torso_1_joint', [0,0])
+rbprmBuilder.setJointBounds ('torso_2_joint', [0,0])
+
+
+# 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(['talos_lleg_rom','talos_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('talos_lleg_rom', ['Support',])
+rbprmBuilder.setAffordanceFilter('talos_rleg_rom', ['Support'])
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-4,4,-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",0.2)
+ps.setParameter("DynamicPlanner/sizeFootY",0.12)
+ps.setParameter("DynamicPlanner/friction",mu)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
+# sample only configuration with null velocity and acceleration :
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",500)
+# 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, 5.])
+afftool.loadObstacleModel ("hpp_environments", "multicontact/maze_hard", "planning", vf)
+#load the viewer
+v = vf.createViewer(displayArrows = True)
+v.addLandmark(v.sceneName,1)
+afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+q_init = rbprmBuilder.getCurrentConfig ();