[script] update ANYmal scripts

script/scenarios/sandbox/ANYmal/anymal_flatGround.py

@@ -31,7 +31,8 @@ ps.setParameter("Kinodynamic/accelerationBound",tp.aMax)
 v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
 
 # load a reference configuration
-q_ref = fullBody.referenceConfig[::]+[0,0,0,0,0,0]
+q_ref = fullBody.referenceConfig[::]+[0]*6
+#q_init = fullBody.referenceConfig_asymetric[::]+[0]*6
 q_init = q_ref[::]
 fullBody.setReferenceConfig(q_ref)
 fullBody.setCurrentConfig (q_init)
@@ -40,7 +41,9 @@ fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 
 print "Generate limb DB ..."
 tStart = time.time()
-fullBody.loadAllLimbs("fixedStep04","ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
+dict_heuristic = {fullBody.rLegId:"fixedStep04", fullBody.lLegId:"fixedStep04", fullBody.rArmId:"static", fullBody.lArmId:"static"}
+#fullBody.loadAllLimbs("static","ReferenceConfiguration",nbSamples=50000,disableEffectorCollision=False)
+fullBody.loadAllLimbs(dict_heuristic,"ReferenceConfiguration",nbSamples=100000,disableEffectorCollision=False)
 tGenerate =  time.time() - tStart
 print "Done."
 print "Databases generated in : "+str(tGenerate)+" s"
@@ -50,7 +53,7 @@ fullBody.setReferenceConfig(q_ref)
 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]
+q_goal = q_ref[::]; q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
 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]
@@ -63,6 +66,7 @@ q_init[configSize+3:configSize+6] = acc_init[::]
 q_goal[configSize:configSize+3] = dir_goal[::]
 q_goal[configSize+3:configSize+6] = [0,0,0]
 
+#q_init[2] = fullBody.referenceConfig_asymetric[2]
 q_init[2] = q_ref[2]
 q_goal[2] = q_ref[2]
 

script/scenarios/sandbox/ANYmal/anymal_modular_palet_flat.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_flat_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.setConstrainedJointsBounds()
+
+# 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 =0.
+# 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] + 0.13
+q_goal[2] = q_ref[2] + 0.15
+
+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_flat_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"
+REF_Z_VALUE = 0.47
+Z_VALUE_LOGS = REF_Z_VALUE + 0.13
+Z_VALUE_PALET = REF_Z_VALUE + 0.165
+Z_VALUE_WOOD = REF_Z_VALUE + 0.15
+Y_VALUE = -0.13
+vInit = 0.01
+vMax = 0.5# linear velocity bound for the root
+aMax = 0.5# linear acceleration bound for the root
+aMaxZ = 5.
+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
+rootBounds = [-1.201,1.11, Y_VALUE-0.001, Y_VALUE+0.001, Z_VALUE_LOGS - 0.001, Z_VALUE_PALET + 0.06]
+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([-0.01,0.01,-0.01,0.01,-0.01,0.01])
+# 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,-2.,2.,-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/synchronizeVerticalAxis",False)
+#ps.setParameter("Kinodynamic/forceYawOrientation",True)
+ps.setParameter("DynamicPlanner/sizeFootX",0.01)
+ps.setParameter("DynamicPlanner/sizeFootY",0.01)
+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_flat", "planning", vf,reduceSizes=[0.11,0,0])
+#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)
+
+
+
+
+# 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")
+#ps.addPathOptimizer ("RandomShortcut")
+
+# init to beginning of palet
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[2] = Z_VALUE_LOGS
+q_init[0:2] = [-1.2,Y_VALUE]
+q_init[-6] = vInit
+v(q_init)
+q_goal = q_init[::]
+q_goal[0] = -0.55
+q_goal[2] = Z_VALUE_PALET + 0.03
+q_goal[3:7] = [ 0, -0.0499792, 0, 0.9987503 ]
+
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+# Solve the planning problem :
+t = ps.solve()
+print "Guide planning done in "+str(t)
+
+pidBegin = ps.numberPaths()-1
+
+## middle part on palet
+q_init = q_goal[::]
+q_goal[3:7] = [ 0, 0.0499792, 0, 0.9987503 ]
+q_goal[0] = 0.55
+ps.resetGoalConfigs()
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+# Solve the planning problem :
+t = ps.solve()
+print "Guide planning done in "+str(t)
+
+pidMiddle = ps.numberPaths()-1
+
+
+## last part on wood floor
+q_init = q_goal[::]
+q_goal[3:7] = [ 0, 0, 0, 1. ]
+q_goal[0] = 1.1
+q_goal[2] = Z_VALUE_WOOD
+ps.resetGoalConfigs()
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+# Solve the planning problem :
+t = ps.solve()
+print "Guide planning done in "+str(t)
+
+pidLast = ps.numberPaths()-1
+
+# concatenate paths : 
+pid = pidBegin
+ps.concatenatePath(pid,pidMiddle)
+ps.concatenatePath(pid,pidLast)
+
+"""
+for i in range(5):
+  print "optimize pass : ",i
+  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/anymal_modular_palet_low.py

@@ -3,7 +3,7 @@ from hpp.gepetto import Viewer
 from hpp.corbaserver.rbprm.tools.display_tools import *
 import time
 print "Plan guide trajectory ..."
-import scenarios.sandbox.ANYmal.anymal_modular_palet_low_path as tp
+import scenarios.sandbox.ANYmal.anymal_modular_palet_low_obstacles_path as tp
 
 #Robot.urdfSuffix += "_safeFeet"
 statusFilename = tp.statusFilename
@@ -32,7 +32,7 @@ rootBounds[3] += 0.5
 rootBounds[4] -= 0.2
 rootBounds[5] += 0.2
 fullBody.setJointBounds ("root_joint",  rootBounds)
-fullBody.setVeryConstrainedJointsBounds()
+fullBody.setConstrainedJointsBounds()
 
 # add the 6 extraDof for velocity and acceleration (see *_path.py script)
 fullBody.client.robot.setDimensionExtraConfigSpace(tp.extraDof)
@@ -85,7 +85,7 @@ 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
+robTreshold = 3
 # copy extraconfig for start and init configurations
 q_init[configSize:configSize+3] = vel_init[::]
 q_init[configSize+3:configSize+6] = acc_init[::]
@@ -93,8 +93,8 @@ 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]
+q_init[2] = q_ref[2] + 0.13
+q_goal[2] = q_ref[2] + 0.15
 
 normals = [[0.,0.,1.] for _ in range(4)]
 fullBody.setStaticStability(True)

script/scenarios/sandbox/ANYmal/anymal_modular_palet_low_obstacles_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"
+REF_Z_VALUE = 0.47
+Z_VALUE_LOGS = REF_Z_VALUE + 0.13
+Z_VALUE_PALET = REF_Z_VALUE + 0.165
+Z_VALUE_WOOD = REF_Z_VALUE + 0.15
+Y_VALUE = -0.13
+vInit = 0.2
+vMax = 0.5# linear velocity bound for the root
+aMax = 0.8# linear acceleration bound for the root
+aMaxZ = 5.
+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
+rootBounds = [-1.201,1.11, Y_VALUE-0.3, Y_VALUE+0.3, Z_VALUE_LOGS - 0.001, Z_VALUE_PALET + 0.06]
+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([-0.3,0.3,-0.01,0.01,-0.01,0.01])
+# 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,-2.,2.,-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/synchronizeVerticalAxis",False)
+ps.setParameter("Kinodynamic/forceYawOrientation",True)
+ps.setParameter("DynamicPlanner/sizeFootX",0.01)
+ps.setParameter("DynamicPlanner/sizeFootY",0.01)
+ps.setParameter("DynamicPlanner/friction",mu)
+# 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, 0.00005])
+afftool.setMinimumArea('Support',0.03)
+afftool.loadObstacleModel ("hpp_environments", "ori/modular_palet_low_obstacles", "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)
+
+
+
+
+# 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")
+#ps.addPathOptimizer ("RandomShortcut")
+
+# init to beginning of palet
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init[2] = Z_VALUE_LOGS
+q_init[0:2] = [-1.2,Y_VALUE]
+q_init[-6] = vInit
+v(q_init)
+q_goal = q_init[::]
+q_goal[0] = -0.55
+q_goal[2] = Z_VALUE_PALET + 0.03
+q_goal[3:7] = [ 0, -0.0499792, 0, 0.9987503 ]
+q_goal[-6] = vInit
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+# Solve the planning problem :
+t = ps.solve()
+print "Guide planning done in "+str(t)
+
+pidBegin = ps.numberPaths()-1
+
+## middle part on palet
+q_init = q_goal[::]
+q_goal[3:7] = [ 0, 0.0499792, 0, 0.9987503 ]
+q_goal[0] = 0.55
+q_goal[1] = -Y_VALUE
+q_goal[-6] = vInit
+ps.resetGoalConfigs()
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+rbprmBuilder.setJointBounds ("root_joint", [q_init[0],q_goal[0],-0.2,0.2,q_init[2],q_init[2]])
+# Solve the planning problem :
+t = ps.solve()
+print "Guide planning done in "+str(t)
+#v.solveAndDisplay('rm',2,0.001)
+pidMiddle = ps.numberPaths()-1
+rbprmBuilder.setJointBounds ("root_joint", rootBounds)
+
+## last part on wood floor
+q_init = q_goal[::]
+q_goal[1] = Y_VALUE
+q_goal[3:7] = [ 0, 0, 0, 1. ]
+q_goal[0] = 1.1
+q_goal[2] = Z_VALUE_WOOD
+q_goal[-6] = vInit
+ps.resetGoalConfigs()
+ps.setInitialConfig (q_init)
+ps.addGoalConfig (q_goal)
+
+# Solve the planning problem :
+t = ps.solve()
+print "Guide planning done in "+str(t)
+
+pidLast = ps.numberPaths()-1
+
+# concatenate paths : 
+pid = pidBegin
+ps.concatenatePath(pid,pidMiddle)
+ps.concatenatePath(pid,pidLast)
+
+"""
+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)