[Scripts] add template classes for path planning

script/scenarios/template_path.py

+from abc import abstractmethod
+from hpp.gepetto import ViewerFactory, PathPlayer
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+from hpp.corbaserver import ProblemSolver
+import time
+
+class AbstractPathPlanning:
+
+  rbprmBuilder = None
+  ps = None
+  v = None
+  afftool = None
+  pp = None
+  q_init = []
+  q_goal = []
+
+  def __init__(self):
+    self.v_max = -1 # bounds on the linear velocity for the root, negative values mean unused
+    self.a_max = -1 # bounds on the linear acceleration for the root, negative values mean unused
+    self.root_translation_bounds = [0] * 6 # bounds on the root translation position (-x, +x, -y, +y, -z, +z)
+    self.root_rotation_bounds = [-3.14, 3.14, -0.01, 0.01, -0.01, 0.01] # bounds on the rotation of the root (-z, z, -y, y, -x, x)
+    # The rotation bounds are only used during the random sampling, they are not enforced along the path
+    self.extra_dof = 6 # number of extra config appended after the joints configuration, 6 to store linear root velocity and acceleration
+    self.mu = 0.5 # friction coefficient between the robot and the environment
+    self.used_limbs = [] # names of the limbs that must be in contact during all the motion
+    self.size_foot_x = 0 # size of the feet along the x axis
+    self.size_foot_y = 0 # size of the feet along the y axis
+    # bounds for the extradof : by default use v_max/a_max on x and y axis and 0 on z axis
+    self.extra_dof_bounds = [-self.v_max,self.v_max,-self.v_max,self.v_max,0,0,
+                             -self.a_max,self.a_max,-self.a_max,self.a_max,0,0]
+
+
+  @abstractmethod
+  def load_robot(self):
+    """
+    Build an rbprmBuilder instance for the correct robot and initialize it's extra config size
+    """
+    pass
+
+  def set_joints_bounds(self):
+    """
+    Set the root translation and rotation bounds as well as the the extra dofs bounds
+    """
+    self.rbprmBuilder.setJointBounds ("root_joint", self.root_translation_bounds)
+    self.rbprmBuilder.boundSO3(self.root_rotation_bounds)
+    self.rbprmBuilder.client.robot.setExtraConfigSpaceBounds(self.extra_dof_bounds)
+
+  def set_rom_filters(self):
+    """
+    Define which ROM must be in collision at all time and with which kind of affordances
+    By default it set all the roms in used_limbs to be in contact with 'support' affordances
+    """
+    self.rbprmBuilder.setFilter(self.used_limbs)
+    for limb in self.used_limbs:
+      self.rbprmBuilder.setAffordanceFilter(limb, ['Support'])
+
+  def init_problem(self):
+    """
+    Load the robot, set the bounds and the ROM filters and then
+    Create a ProblemSolver instance and set the default parameters.
+    The values of v_max, a_max, mu, size_foot_x and size_foot_y must be defined before calling this method
+    """
+    self.load_robot()
+    self.set_joints_bounds()
+    self.set_rom_filters()
+    self.ps = ProblemSolver( self.rbprmBuilder)
+    # define parameters used by various methods :
+    if self.v_max >= 0:
+      self.ps.setParameter("Kinodynamic/velocityBound", self.v_max)
+    if self.a_max >= 0:
+      self.ps.setParameter( "Kinodynamic/accelerationBound", self.a_max)
+    if self.size_foot_x > 0:
+      self.ps.setParameter("DynamicPlanner/sizeFootX", self.size_foot_x)
+    if self.size_foot_y > 0:
+      self.ps.setParameter("DynamicPlanner/sizeFootY", self.size_foot_y)
+    self.ps.setParameter("DynamicPlanner/friction", 0.5)
+    # sample only configuration with null velocity and acceleration :
+    self.ps.setParameter("ConfigurationShooter/sampleExtraDOF", False)
+
+  def init_viewer(self, env_name, env_package = "hpp_environments", visualize_affordances = []):
+    """
+    Build an instance of hpp-gepetto-viewer from the current problemSolver
+    :param env_name: name of the urdf describing the environment
+    :param env_package: name of the package containing this urdf (default to hpp_environments)
+    :param visualize_affordances: list of affordances type to visualize, default to none
+    """
+    vf = ViewerFactory(self.ps)
+    self.afftool = AffordanceTool ()
+    self.afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+    self.afftool.loadObstacleModel (env_package, env_name, "planning", vf)
+    try :
+        self.v = vf.createViewer(displayArrows = True)
+    except Exception:
+        print("No viewer started !")
+        class FakeViewer():
+            def __init__(self):
+                return
+            def __call__(self,q):
+                return
+            def addLandmark(self,a,b):
+                return
+        self.v = FakeViewer()
+    self.pp = PathPlayer(self.v)
+    for aff_type in visualize_affordances:
+      self.afftool.visualiseAffordances(aff_type, self.v, self.v.color.lightBrown)
+
+
+
+  def init_planner(self, kinodynamic = True):
+    """
+    Select the rbprm methods, and the kinodynamic ones if required
+    :param kinodynamic: if True, also select the kinodynamic methods
+    """
+    self.ps.selectConfigurationShooter("RbprmShooter")
+    self.ps.selectPathValidation("RbprmPathValidation", 0.05)
+    if kinodynamic:
+      self.ps.addPathOptimizer("RandomShortcutDynamic")
+      self.ps.selectSteeringMethod("RBPRMKinodynamic")
+      self.ps.selectDistance("Kinodynamic")
+      self.ps.selectPathPlanner("DynamicPlanner")
+
+
+  def solve(self):
+    """
+    Solve the path planning problem.
+    q_init and q_goal must have been defined before calling this method
+    """
+    if len(self.q_init) != self.rbprmBuilder.getConfigSize():
+      raise ValueError("Initial configuration vector do not have the right size")
+    if len(self.q_goal) != self.rbprmBuilder.getConfigSize():
+      raise ValueError("Goal configuration vector do not have the right size")
+    self.ps.setInitialConfig (self.q_init)
+    self.ps.addGoalConfig (self.q_goal)
+    self.v(self.q_init)
+    t = self.ps.solve ()
+    print("Guide planning time : ",t)
+
+  def display_path(self, path_id = -1, dt = 0.1):
+    """
+    Display the path in the viewer, if no path specified display the last one
+    :param path_id: the Id of the path specified, default to the most recent one
+    :param dt: discretization step used to display the path (default to 0.1)
+    """
+    if path_id < 0:
+      path_id = self.ps.numberPaths()-1
+    self.pp.dt = dt
+    self.pp.displayVelocityPath(path_id)
+
+  def play_path(self, path_id = -1, dt = 0.01):
+    """
+    play the path in the viewer, if no path specified display the last one
+    :param path_id: the Id of the path specified, default to the most recent one
+    :param dt: discretization step used to display the path (default to 0.01)
+    """
+    if path_id < 0:
+      path_id = self.ps.numberPaths()-1
+    self.pp.dt = dt
+    self.pp(path_id)
+
+  def hide_rom(self):
+    """
+    Move visual ROM far above the meshs, as we cannot just delete it.
+    """
+    q_far = self.q_init[::]
+    q_far[2] = -3
+    self.v(q_far)
\ No newline at end of file

script/scenarios/template_talos_path.py

+from .template_path import AbstractPathPlanning
+
+
+class TalosPathPlanning(AbstractPathPlanning):
+
+    def __init__(self):
+        super().__init__()
+        # set default bounds to a large workspace on x,y with small interval around reference z value
+        self.root_translation_bounds = [-5., 5., -5., 5., 0.95, 1.05]
+        # set default used limbs to be both feet
+        self.used_limbs = ['talos_lleg_rom','talos_rleg_rom']
+        self.size_foot_x = 0.2 # size of the feet along the x axis
+        self.size_foot_y = 0.12  # size of the feet along the y axis
+        self.v_max = 0.3
+        self.a_max = 0.1
+        self.extra_dof_bounds = [-self.v_max, self.v_max, -self.v_max, self.v_max, 0, 0,
+                                 -self.a_max, self.a_max, -self.a_max, self.a_max, 0, 0]
+
+    def load_robot(self):
+        from talos_rbprm.talos_abstract import Robot
+        self.rbprmBuilder = Robot()
+        self.rbprmBuilder.client.robot.setDimensionExtraConfigSpace(self.extra_dof)
+        self.q_init = self.rbprmBuilder.getCurrentConfig()
+        self.q_goal = self.rbprmBuilder.getCurrentConfig()
+        self.q_init[2] = self.rbprmBuilder.ref_height
+        self.q_goal[2] = self.rbprmBuilder.ref_height
+
+
+
+
+
+