polaris_scen

script/scenarios/polaris/polaris_hrp2_path_2.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk_flexible'
+urdfNameRoms =  ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01])
+rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
+#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
+rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+q0 = rbprmBuilder.getCurrentConfig ();
+q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+q_goal = q_init [::]
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[0:3] = [0.36, -0.37772165525546453,  0.968450617921899];  r(q_init)
+rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_goal[0:3] = [1.2,-1,0.5]; r(q_goal)
+#~ q_goal[0:3] = [0.9, -1.1, 0.6]; r(q_goal)
+#~ q_goal[0:3] = [1.5, -1.1, 0.57]; r(q_goal)
+q_goal[0:3] = [0.36, -1, 0.9]; r(q_goal)
+ 
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.2, 0.03, 0.00005])
+afftool.setAffordanceConfig('Lean', [0.5, 0.05, 0.00005])
+afftool.loadObstacleModel (packageName, "polaris", "planning", r)
+#~ afftool.analyseAll()
+#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+#~ afftool.visualiseAffordances('Lean', r, [1, 0, 0])
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.01)
+t = ps.solve ()
+print (t)
+if isinstance(t, list):
+	t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+
+#~ print ("solving time " + str(t));
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp (0)
+
+#~ pp (1)
+for i in range(1,10):
+	rbprmBuilder.client.basic.problem.optimizePath(i)
+
+	
+
+rob = rbprmBuilder.client.basic.robot
+r(q_init)
+
+q_loin = q_init[::]
+q_loin[0:3] = [100,100,100]
+r (q_loin)
+#~ configs = []
+#~ problem = ps.client.problem
+#~ length = problem.pathLength (0)
+#~ t = 0
+#~ i = 0
+#~ configs = []
+#~ dt = 0.1 / length
+#~ while t < length :
+	#~ q = rbprmBuilder.getCurrentConfig()
+	#~ q[0:9]= problem.configAtParam (0, t)[0:9]
+	#~ configs.append(q)
+	#~ t += dt
+	#~ i = i+1
+	#~ 
+#~ i = 0;
+#~ r(configs[i]); i = +1

script/scenarios/polaris/polaris_hrp2_path_3.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk_flexible'
+urdfNameRoms =  ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01])
+rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
+#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
+rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+q0 = rbprmBuilder.getCurrentConfig ();
+q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+q_goal = q_init [::]
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[0:3] = [0.36, -0.9940043559354331, 0.92];  r(q_init)
+rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_goal[0:3] = [1.2,-1,0.5]; r(q_goal)
+#~ q_goal[0:3] = [0.9, -1.1, 0.6]; r(q_goal)
+q_goal[0:3] = [1.5, -1.1, 0.57]; r(q_goal)
+#~ q_goal[0:3] = [0.36, -1, 0.9]; r(q_goal)
+ 
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.2, 0.03, 0.00005])
+afftool.setAffordanceConfig('Lean', [0.5, 0.05, 0.00005])
+afftool.loadObstacleModel (packageName, "polaris", "planning", r)
+#~ afftool.analyseAll()
+#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+#~ afftool.visualiseAffordances('Lean', r, [1, 0, 0])
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.01)
+t = ps.solve ()
+print (t)
+if isinstance(t, list):
+	t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+
+#~ print ("solving time " + str(t));
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp (0)
+
+#~ pp (1)
+for i in range(1,10):
+	rbprmBuilder.client.basic.problem.optimizePath(i)
+
+	
+
+rob = rbprmBuilder.client.basic.robot
+r(q_init)
+
+q_loin = q_init[::]
+q_loin[0:3] = [100,100,100]
+r (q_loin)
+#~ configs = []
+#~ problem = ps.client.problem
+#~ length = problem.pathLength (0)
+#~ t = 0
+#~ i = 0
+#~ configs = []
+#~ dt = 0.1 / length
+#~ while t < length :
+	#~ q = rbprmBuilder.getCurrentConfig()
+	#~ q[0:9]= problem.configAtParam (0, t)[0:9]
+	#~ configs.append(q)
+	#~ t += dt
+	#~ i = i+1
+	#~ 
+#~ i = 0;
+#~ r(configs[i]); i = +1

script/scenarios/polaris/polaris_hrp2_path_4.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk_flexible'
+urdfNameRoms =  ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01])
+rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
+#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
+rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+q0 = rbprmBuilder.getCurrentConfig ();
+q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+q_goal = q_init [::]
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[0:3] = [1.1035428951774233,
+ -1.060021251429404,
+ 0.68];  r(q_init)
+rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_goal[0:3] = [1.2,-1,0.5]; r(q_goal)
+#~ q_goal[0:3] = [0.9, -1.1, 0.6]; r(q_goal)
+q_goal[0:3] = [1.5, -1.1, 0.57]; r(q_goal)
+#~ q_goal[0:3] = [0.36, -1, 0.9]; r(q_goal)
+ 
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.2, 0.03, 0.00005])
+afftool.setAffordanceConfig('Lean', [0.5, 0.05, 0.00005])
+afftool.loadObstacleModel (packageName, "polaris", "planning", r)
+#~ afftool.analyseAll()
+#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+#~ afftool.visualiseAffordances('Lean', r, [1, 0, 0])
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.01)
+t = ps.solve ()
+print (t)
+if isinstance(t, list):
+	t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+
+#~ print ("solving time " + str(t));
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp (0)
+
+#~ pp (1)
+for i in range(1,10):
+	rbprmBuilder.client.basic.problem.optimizePath(i)
+
+	
+
+rob = rbprmBuilder.client.basic.robot
+r(q_init)
+
+q_loin = q_init[::]
+q_loin[0:3] = [100,100,100]
+r (q_loin)
+#~ configs = []
+#~ problem = ps.client.problem
+#~ length = problem.pathLength (0)
+#~ t = 0
+#~ i = 0
+#~ configs = []
+#~ dt = 0.1 / length
+#~ while t < length :
+	#~ q = rbprmBuilder.getCurrentConfig()
+	#~ q[0:9]= problem.configAtParam (0, t)[0:9]
+	#~ configs.append(q)
+	#~ t += dt
+	#~ i = i+1
+	#~ 
+#~ i = 0;
+#~ r(configs[i]); i = +1

script/scenarios/polaris/polaris_hrp2_path_no_step.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.gepetto import Viewer
+
+rootJointType = 'freeflyer'
+packageName = 'hpp-rbprm-corba'
+meshPackageName = 'hpp-rbprm-corba'
+urdfName = 'hrp2_trunk_flexible'
+urdfNameRoms =  ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
+urdfSuffix = ""
+srdfSuffix = ""
+
+rbprmBuilder = Builder ()
+
+rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01])
+rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
+#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
+rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
+rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0])
+
+#~ from hpp.corbaserver.rbprm. import ProblemSolver
+from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
+
+ps = ProblemSolver( rbprmBuilder )
+
+r = Viewer (ps)
+
+q0 = rbprmBuilder.getCurrentConfig ();
+q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
+q_goal = q_init [::]
+
+
+q_init = rbprmBuilder.getCurrentConfig ();
+#~ q_init[0:3] = [0.36, -0.32, 1.01];  r(q_init)
+q_init[0:3] = [0.36, 0, 1.01];  r(q_init)
+rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+#~ q_goal[0:3] = [1.2,-1,0.5]; r(q_goal)
+#~ q_goal[0:3] = [0.9, -1.1, 0.6]; r(q_goal)
+#~ q_goal[0:3] = [1.5, -1.1, 0.5]; r(q_goal)
+q_goal[0:3] = [0.36, -1, 0.9]; r(q_goal)
+ 
+ps.addPathOptimizer("RandomShortcut")
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.2, 0.03, 0.00005])
+afftool.setAffordanceConfig('Lean', [0.5, 0.05, 0.00005])
+afftool.loadObstacleModel (packageName, "polaris", "planning", r)
+#~ afftool.analyseAll()
+#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
+#~ afftool.visualiseAffordances('Lean', r, [1, 0, 0])
+
+ps.client.problem.selectConFigurationShooter("RbprmShooter")
+ps.client.problem.selectPathValidation("RbprmPathValidation",0.01)
+t = ps.solve ()
+print (t)
+if isinstance(t, list):
+	t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
+f = open('log.txt', 'a')
+f.write("path computation " + str(t) + "\n")
+f.close()
+
+#~ print ("solving time " + str(t));
+
+
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (rbprmBuilder.client.basic, r)
+#~ pp (0)
+
+#~ pp (1)
+for i in range(1,10):
+	rbprmBuilder.client.basic.problem.optimizePath(i)
+
+	
+
+rob = rbprmBuilder.client.basic.robot
+r(q_init)
+
+q_loin = q_init[::]
+q_loin[0:3] = [100,100,100]
+r (q_loin)
+#~ configs = []
+#~ problem = ps.client.problem
+#~ length = problem.pathLength (0)
+#~ t = 0
+#~ i = 0
+#~ configs = []
+#~ dt = 0.1 / length
+#~ while t < length :
+	#~ q = rbprmBuilder.getCurrentConfig()
+	#~ q[0:9]= problem.configAtParam (0, t)[0:9]
+	#~ configs.append(q)
+	#~ t += dt
+	#~ i = i+1
+	#~ 
+#~ i = 0;
+#~ r(configs[i]); i = +1

script/scenarios/polaris/poralis_hrp2_interp.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+import polaris_hrp2_path_no_step as tp
+
+
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+#  Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"
+urdfSuffix = "_reduced"
+srdfSuffix = ""
+
+fullBody = FullBody ()
+
+fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
+fullBody.setJointBounds ("base_joint_xyz", [-1,2, -2, 1, 0.5, 2.5])
+
+ps = tp.ProblemSolver( fullBody )
+r = tp.Viewer (ps)
+
+#~ AFTER loading obstacles
+#~ AFTER loading obstacles
+rLegId = 'hrp2_rleg_rom'
+rLeg = 'RLEG_JOINT0'
+rLegOffset = [0,-0.105,0,]
+rLegNormal = [0,1,0]
+rLegx = 0.09; rLegy = 0.05
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "manipulability", 0.03)
+
+lLegId = 'hrp2_lleg_rom'
+lLeg = 'LLEG_JOINT0'
+lLegOffset = [0,-0.105,0]
+lLegNormal = [0,1,0]
+lLegx = 0.09; lLegy = 0.05
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, "manipulability", 0.03)
+
+
+rarmId = 'hrp2_rarm_rom'
+rarm = 'RARM_JOINT0'
+rHand = 'RARM_JOINT5'
+rArmOffset = [-0.05,-0.050,-0.050]
+rArmNormal = [1,0,0]
+rArmx = 0.024; rArmy = 0.024
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 20000, "EFORT", 0.05, "_6_DOF", True)
+
+larmId = 'hrp2_larm_rom'
+larm = 'LARM_JOINT0'
+lHand = 'LARM_JOINT5'
+lArmOffset = [-0.05,-0.050,-0.050]
+lArmNormal = [1,0,0]
+lArmx = 0.024; lArmy = 0.024
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 20000, "EFORT", 0.05, "_6_DOF", True)
+
+ #~ 
+
+q_0 = fullBody.getCurrentConfig(); 
+#~ fullBody.createOctreeBoxes(r.client.gui, 1, larmId, q_0,)
+
+#~ fullBody.client.basic.robot.setJointConfig('LARM_JOINT0',[1])
+#~ fullBody.client.basic.robot.setJointConfig('RARM_JOINT0',[-1])
+confsize = len(tp.q_init)
+q_init =  [
+        #~ 0.12, -0.45, 0.95, 1.0, 0.0 , 0.0, 0.0,                         	 # Free flyer 0-6
+        0.36, 0, 1.01, 1.0, 0.0 , 0.0, 0.0,                         	 # Free flyer 0-6
+        0.0, 0.0, 0.0, 0.0,                                                  # CHEST HEAD 7-10
+        0.261799388,  0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, 		 # LARM       11-17
+        0.261799388, -0.174532925, 0.0, -1, 0.0, 0.0, 0.17, 		 # RARM       18-24
+        0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,               # LLEG       25-30
+        0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,               # RLEG       31-36
+        ]; r (q_init);
+q_init[0:confsize] = tp.q_init[0:confsize]
+q_goal = fullBody.getCurrentConfig(); q_goal[0:confsize] = tp.q_goal[0:confsize]
+
+
+fullBody.setCurrentConfig (q_init)
+#~ q_0 = fullBody.getCurrentConfig(); 
+q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
+
+fullBody.setCurrentConfig (q_goal)
+#~ r(q_goal)
+q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+#~ r(q_goal)
+
+#~ gui = r.client.gui
+
+
+
+
+#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId,larmId])
+fullBody.setStartState(q_init,[rLegId,lLegId,larmId])
+fullBody.setEndState(q_goal,[rLegId,lLegId])
+#~ 
+#~ r(q_init)
+configs = fullBody.interpolate(0.02, 10, 5, False)
+#~ r.loadObstacleModel ('hpp-rbprm-corba', "polaris", "contact")
+#~ configs = fullBody.interpolate(0.09)
+#~ configs = fullBody.interpolate(0.08)
+i = 0; 
+r (configs[i]); i=i+1; i-1
+#~ q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
+#~ fullBody.draw(q_0,r)
+#~ fullBody.client.rbprm.rbprm.getOctreeTransform(larmId, q_0)
+#~ problem = ps.client.problem
+#~ length = problem.pathLength (0)
+#~ t = 0
+#~ i = 0
+#~ configs = []
+#~ dt = 0.1 / length
+#~ while t < length :
+	#~ q = fullBody.getCurrentConfig()
+	#~ q[0:confsize] = problem.configAtParam (0, t)[0:confsize]
+	#~ configs.append(q)
+	#~ t += dt
+	#~ i = i+1
+	#~ 
+i = 0;
+fullBody.draw(configs[i],r); i=i+1; i-1
+
+import datetime
+now = datetime.datetime.now()
+#~ 
+f1 = open("polaris_hrp2"+str(now),"w+")
+f1.write(str(configs))
+f1.close()
+
+#~ import hpp.gepetto.blender.exportmotion as em
+
+#~ fullBody.exportAll(r, configs, "polaris_hrp2_OK"+str(now));
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (fullBody.client.basic, r)
+
+
+from hpp.corbaserver.rbprm.tools.cwc_trajectory_helper import step, clean,stats, saveAllData, play_traj
+
+	
+limbsCOMConstraints = { rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'},
+						lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'},
+						rarmId : {'file': "hrp2/RA_com.ineq", 'effector' : rHand},
+						larmId : {'file': "hrp2/LA_com.ineq", 'effector' : lHand} }
+
+#~ fullBody.limbRRTFromRootPath(0,len(configs)-1,0,2)
+from hpp.corbaserver.rbprm.tools.cwc_trajectory_helper import step, clean,stats, saveAllData, play_traj
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (fullBody.client.basic, r)
+
+def act(i, numOptim = 0, use_window = 0, friction = 0.5, optim_effectors = True, verbose = False, draw = False):
+	return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, 0.4, optim_effectors = optim_effectors, time_scale = 20., useCOMConstraints = True, use_window = use_window, verbose = verbose, draw = draw)
+
+def play(frame_rate = 1./24.):
+	play_traj(fullBody,pp,frame_rate)
+	
+def saveAll(name):
+	saveAllData(fullBody, r, name)
+
+
+for i in range(10,30):  act(i,numOptim = 0, use_window = 0, friction = 1, optim_effectors = False, verbose = False, draw = False)

script/scenarios/polaris/poralis_hrp2_interp_2.py

+from hpp.corbaserver.rbprm.rbprmbuilder import Builder
+from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
+from hpp.gepetto import Viewer
+
+import polaris_hrp2_path_2 as tp
+
+
+
+packageName = "hrp2_14_description"
+meshPackageName = "hrp2_14_description"
+rootJointType = "freeflyer"
+##
+#  Information to retrieve urdf and srdf files.
+urdfName = "hrp2_14"