Commit 992f9b98 authored by Teguh Santoso Lembono's avatar Teguh Santoso Lembono Committed by Pierre Fernbach
Browse files

Add navBauzil and mazeEasy

parent 1ac429b8
......@@ -27,7 +27,7 @@ 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()
......
......@@ -3,8 +3,6 @@ from hpp.gepetto import Viewer
from hpp.corbaserver import ProblemSolver
import time
vMax = 0.3# linear velocity bound for the root
aMax = 0.1# linear acceleration bound for the root
extraDof = 6
......
......@@ -4,8 +4,7 @@ from hpp.corbaserver import Client
from hpp.corbaserver import ProblemSolver
import time
Robot.urdfName += "_large"
vMax = 0.3# linear velocity bound for the root
aMax = 0.1 # linear acceleration bound for the root
extraDof = 6
......@@ -38,7 +37,7 @@ 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/forceYawOrientation",True)
#ps.setParameter("Kinodynamic/forceYawOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu)
......@@ -56,7 +55,7 @@ afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
afftool.loadObstacleModel ("hpp_environments", "multicontact/floor_bauzil", "planning", vf)
v = vf.createViewer(displayArrows = True)
#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
afftool.visualiseAffordances('Support', v, v.color.lightBrown)
v.addLandmark(v.sceneName,1)
# Setting initial configuration
......
......@@ -8,8 +8,6 @@ import random
import time
statusFilename = "/res/infos.log"
fullBody = Robot ()
# Set the bounds for the root
fullBody.setJointBounds ("root_joint", [-0.3,0.3, -0.3, 0.3, 0.85, 1.05])
......@@ -74,9 +72,9 @@ tStart = time.time()
nbSamples = 10
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "static", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.7)
fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
#fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "static", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.7)
fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
#fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
tGenerate = time.time() - tStart
......@@ -108,12 +106,12 @@ else:
print "Contact generation failed."
f = open(statusFilename,"w")
f.write("q_init= "+str(s0.q())+"\n")
f.write("q_goal= "+str(s1.q())+"\n")
f.write("cg_success: "+str(cg_success)+"\n")
f.write("cg_reach_goal: "+str(cg_reach_goal)+"\n")
f.close()
#f = open(statusFilename,"w")
#f.write("q_init= "+str(s0.q())+"\n")
#f.write("q_goal= "+str(s1.q())+"\n")
#f.write("cg_success: "+str(cg_success)+"\n")
#f.write("cg_reach_goal: "+str(cg_reach_goal)+"\n")
#f.close()
# put back original bounds for wholebody methods
......
......@@ -108,6 +108,7 @@ floor_Z = 0.
s0 = sampleRandomStateFlatFloor(fullBody,limbsInContact,floor_Z)
q_init = s0.q()
q_goal = q_ref[::]
q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
q_goal[2] = q_ref[2]
......
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