Add navBauzil and mazeEasy

script/scenarios/demos/talos_flatGround.py

@@ -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()

script/scenarios/demos/talos_flatGround_path.py

@@ -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

script/scenarios/demos/talos_navBauzil_path.py

@@ -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

script/scenarios/memmo/talos_moveEffector_flat.py

@@ -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

script/scenarios/memmo/talos_randomMove_flat.py

@@ -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]