[demo] add demo script memmo/talos_moveRandom_flat

script/scenarios/memmo/talos_randomMove_flat.py

+from hpp.corbaserver.rbprm.talos import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+from hpp.gepetto import ViewerFactory
+from hpp.corbaserver import ProblemSolver
+import os
+import random
+import time
+print "Plan guide trajectory ..."
+import talos_randomMove_path as tp
+print "Done."
+import time
+statusFilename = tp.statusFilename
+pId = 0
+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
+fullBody.setJointBounds ("root_joint", [-0.3,0.3, -0.3, 0.3, tp.ROOT_Z_MIN, tp.ROOT_Z_MAX])
+## reduce bounds on joints along x, to put conservative condition on the contact generation for sideway steps
+joint6L_bounds_prev=fullBody.getJointBounds('leg_left_6_joint')
+joint2L_bounds_prev=fullBody.getJointBounds('leg_left_2_joint')
+joint6R_bounds_prev=fullBody.getJointBounds('leg_right_6_joint')
+joint2R_bounds_prev=fullBody.getJointBounds('leg_right_2_joint')
+fullBody.setJointBounds('leg_left_6_joint',[-0.25,0.25])
+fullBody.setJointBounds('leg_left_2_joint',[-0.25,0.25])
+fullBody.setJointBounds('leg_right_6_joint',[-0.25,0.25])
+fullBody.setJointBounds('leg_right_2_joint',[-0.25,0.25])
+# constraint z axis and y axis : 
+joint1L_bounds_prev=fullBody.getJointBounds('leg_left_1_joint')
+joint3L_bounds_prev=fullBody.getJointBounds('leg_left_3_joint')
+joint1R_bounds_prev=fullBody.getJointBounds('leg_right_1_joint')
+joint3R_bounds_prev=fullBody.getJointBounds('leg_right_3_joint')
+fullBody.setJointBounds('leg_left_1_joint',[-0.2,0.7])
+fullBody.setJointBounds('leg_left_3_joint',[-1.3,0.4])
+fullBody.setJointBounds('leg_right_1_joint',[-0.7,0.2])
+fullBody.setJointBounds('leg_right_3_joint',[-1.3,0.4])
+
+# add the 6 extraDof for velocity and acceleration (see *_path.py script)
+fullBody.client.robot.setDimensionExtraConfigSpace(6)
+vMax = 0.5# linear velocity bound for the root
+aMax = 0.5# linear acceleration bound for the root
+fullBody.client.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,-aMax,aMax,-aMax,aMax,0,0])
+ps = tp.ProblemSolver( fullBody )
+vf = ViewerFactory (ps)
+ps.setParameter("Kinodynamic/velocityBound",vMax)
+ps.setParameter("Kinodynamic/accelerationBound",aMax)
+ps.setRandomSeed(random.SystemRandom().randint(0, 999999))
+
+#load the viewer
+try :
+    v = vf.createViewer(displayCoM = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        sceneName = ""
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+        def addLandmark(self,a,b):
+            return
+    v = FakeViewer()
+
+v.addLandmark(v.sceneName,0.5)
+v.addLandmark('talos/base_link',0.3)
+
+# load a reference configuration
+q_ref = fullBody.referenceConfig[::]+[0]*6
+#q_ref = fullBody.referenceConfig_legsApart[::]+[0]*6
+fullBody.setReferenceConfig(q_ref)
+fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
+
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases : 
+
+nbSamples = 100000
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.7)
+fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.7)
+fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
+
+
+tGenerate =  time.time() - tStart
+print "Done."
+print "Databases generated in : "+str(tGenerate)+" s"
+
+## generate random initial state : root pose at the origin exepct for z translation and both feet in contact with the floor
+from tools.sample_random_transition import sampleRandomStateFlatFloor
+limbsInContact = [fullBody.rLegId,fullBody.lLegId]
+random.seed()
+floor_Z = -0.00095
+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]
+robTreshold = 3
+
+fullBody.setStaticStability(True)
+v.addLandmark('talos/base_link',0.3)
+v(q_init)
+
+# specify the full body configurations as start and goal state of the problem
+
+if q_goal[1] < 0: # goal on the right side of the circle, start motion with right leg first
+  fullBody.setStartState(q_init,[fullBody.rLegId,fullBody.lLegId])
+  fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lLegId])
+  print "Right foot first"
+else :
+  fullBody.setStartState(q_init,[fullBody.lLegId,fullBody.rLegId])
+  fullBody.setEndState(q_goal,[fullBody.lLegId,fullBody.rLegId])
+  print "Left foot first"
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.005,pathId=pId,robustnessTreshold = robTreshold, filterStates = 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
+if len(configs) > 10 :
+  cg_too_many_states = True
+  cg_success = False
+  print "Discarded contact sequence because it was too long."
+else:
+  cg_too_many_states = False
+
+f = open(statusFilename,"a")
+f.write("cg_success: "+str(cg_success)+"\n")
+f.write("cg_reach_goal: "+str(cg_reach_goal)+"\n")
+f.write("cg_too_many_states: "+str(cg_too_many_states)+"\n")
+f.close()
+
+if (not cg_success) or cg_too_many_states:
+  import sys
+  sys.exit(1)
+
+# put back original bounds for wholebody methods
+fullBody.setJointBounds ("root_joint", [-2,2, -2, 2, 0.6, 1.4])
+fullBody.setJointBounds('leg_left_6_joint',joint6L_bounds_prev)
+fullBody.setJointBounds('leg_left_2_joint',joint2L_bounds_prev)
+fullBody.setJointBounds('leg_right_6_joint',joint6R_bounds_prev)
+fullBody.setJointBounds('leg_right_2_joint',joint2R_bounds_prev)
+fullBody.setJointBounds('leg_left_1_joint',joint1L_bounds_prev)
+fullBody.setJointBounds('leg_left_3_joint',joint3L_bounds_prev)
+fullBody.setJointBounds('leg_right_1_joint',joint1R_bounds_prev)
+fullBody.setJointBounds('leg_right_3_joint',joint3R_bounds_prev)
+

script/scenarios/memmo/talos_randomMove_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
+statusFilename = "/res/infos.log"
+
+MIN_ROOT_DIST = 0.05
+MAX_ROOT_DIST= 0.3
+FINAL_ORIENTATION_RANDOM = False # if true : random value of yaw orientation, if false : constrained to be along the direction of root_init->root_goal
+ROOT_Z_MIN = 0.85
+ROOT_Z_MAX = 1.05
+
+
+vMax = 0.5# linear velocity bound for the root
+vInit = 0.01# initial / final velocity to fix the direction
+vGoal = 0.01
+aMax = 0.05# 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", [-2,2, -2, 2, 1., 1.])
+
+# 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([-1.7,1.7,-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",0.5)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
+# sample only configuration with null velocity and acceleration :
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+
+# 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.loadObstacleModel ("hpp_environments", "multicontact/ground", "planning", vf)
+#load the viewer
+try :
+    v = vf.createViewer(displayArrows = True)
+except Exception:
+    print "No viewer started !"
+    class FakeViewer():
+        sceneName = ""
+        def __init__(self):
+            return
+        def __call__(self,q):
+            return
+        def addLandmark(self,a,b):
+            return
+    v = FakeViewer()
+v.addLandmark(v.sceneName,0.5)
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[0:3] = [0,0,1.]
+q_init[3:7] = [0,0,0,1]
+q_init[-6] = vInit
+# sample random position on a circle of radius 2m
+
+import random 
+random.seed()
+radius = random.uniform(MIN_ROOT_DIST,MAX_ROOT_DIST)
+alpha = random.uniform(0.,2.*np.pi)
+print "Test on a circle, alpha = ",alpha
+print "Radius = ",radius
+q_goal = q_init[::]
+q_goal [0:3] = [radius*np.sin(alpha), -radius*np.cos(alpha), 1.]
+
+if FINAL_ORIENTATION_RANDOM:
+  alpha = random.uniform(0.,2.*np.pi) # sample new random yaw value for the orientation
+  v_goal = np.matrix([radius*np.sin(alpha), -radius*np.cos(alpha),0]).T
+else : 
+  v_goal = np.matrix([q_goal[0],q_goal[1],0]).T # direction root_init -> root_goal 
+
+
+# set final orientation to be along the circle : 
+vx = np.matrix([1,0,0]).T
+quat = Quaternion.FromTwoVectors(vx,v_goal)
+q_goal[3:7] = quat.coeffs().T.tolist()[0]
+# set final velocity to fix the orientation : 
+q_goal[-6] = vGoal*np.sin(alpha)
+q_goal[-5] = -vGoal*np.cos(alpha)
+v(q_goal)
+print "initial root position : ",q_init
+print "final root position : ",q_goal
+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")
+
+# Solve the planning problem :
+success = ps.client.problem.prepareSolveStepByStep()
+
+if not success:
+  print "planning failed."
+  import sys
+  sys.exit(1)
+
+ps.client.problem.finishSolveStepByStep()
+
+
+try :
+    # display solution : 
+    from hpp.gepetto import PathPlayer
+    pp = PathPlayer (v)
+    pp.dt=0.1
+    pp.displayVelocityPath(0)
+    #v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
+    pp.dt=0.01
+    #pp(0)
+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/tools/sample_random_transition.py

@@ -5,10 +5,11 @@ import numpy as np
 from numpy.linalg import norm
 from pinocchio import SE3,se3ToXYZQUATtuple, Quaternion
 import sys
+from math import isnan
 
 eff_x_range = [-0.4,0.4]
 eff_y_range=[-0.4,0.4]
-kin_distance_max = 0.85
+kin_distance_max = 0.84
 
 limb_ids = {'talos_rleg_rom':range(13,19), 'talos_lleg_rom':range(7,13)}
 
@@ -24,12 +25,15 @@ def projectInKinConstraints(fullBody,state):
     while distance > kin_distance_max and successProj and maxIt > 0:
       com_l[2] -= 0.001
       successProj = state.projectToCOM(com_l,0)
-      fullBody.setCurrentConfig(state.q())
-      pL = np.matrix(fullBody.getJointPosition('leg_left_sole_fix_joint')[0:3])
-      pR = np.matrix(fullBody.getJointPosition('leg_right_sole_fix_joint')[0:3])
-      com_l = fullBody.getCenterOfMass()
-      com = np.matrix(com_l)
-      distance = max(norm(pL-com),norm(pR-com))
+      if isnan(state.q()[0]):
+        successProj = False
+      else:
+        fullBody.setCurrentConfig(state.q())
+        pL = np.matrix(fullBody.getJointPosition('leg_left_sole_fix_joint')[0:3])
+        pR = np.matrix(fullBody.getJointPosition('leg_right_sole_fix_joint')[0:3])
+        com_l = fullBody.getCenterOfMass()
+        com = np.matrix(com_l)
+        distance = max(norm(pL-com),norm(pR-com))
       maxIt -= 1
     if maxIt == 0 :
       successProj = False
@@ -73,17 +77,22 @@ def sampleRotationAlongZ(placement):
     return placement
 
 # create a state with legs config and root orientation along z axis random, the rest is equal to the referenceConfig
-def createRandomState(fullBody,limbsInContact):
+def createRandomState(fullBody,limbsInContact,root_at_origin = True):
     extraDof = int(fullBody.client.robot.getDimensionExtraConfigSpace())
     q0 = fullBody.referenceConfig[::]
     if extraDof > 0:
         q0 += [0]*extraDof    
     qr = fullBody.shootRandomConfig()
-    root = SE3.Identity()
-    root.translation=np.matrix([0,0,qr[2]]).T
-    # sample random orientation along z : 
-    root = sampleRotationAlongZ(root)
-    q0[0:7] = se3ToXYZQUATtuple(root)
+    if root_at_origin : 
+      q0[0:2] = [0,0]
+      q0[2] = qr[2]
+      q0[3:7] = [0,0,0,1]
+    else : 
+      root = SE3.Identity()
+      root.translation=np.matrix(qr[0:3]).T
+      # sample random orientation along z : 
+      root = sampleRotationAlongZ(root)
+      q0[0:7] = se3ToXYZQUATtuple(root)
     # apply random config to legs (FIXME : ID hardcoded for Talos)
     q0[7:19] = qr[7:19]
     fullBody.setCurrentConfig(q0)