Commit c48a3101 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

darpa trunk large

parent 0580ce20
......@@ -215,6 +215,7 @@ install(FILES
data/meshes/hyq/hyq_trunk_large.stl
data/meshes/hyq/hyq_trunk_large2.stl
data/meshes/hyq/hyq_trunk_large3.stl
data/meshes/hyq/hyq_trunk_large4.stl
data/meshes/hyq/hyq_rom.stl
data/meshes/hyq/hyq_rhleg_rom.stl
data/meshes/hyq/hyq_rfleg_rom.stl
......
No preview for this file type
......@@ -16,7 +16,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" scale="5 5 5"/>
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk_large.stl" scale="1 1 1"/>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk_large4.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
......
path computation 190045
contact: 114
no contact: 2
planner failed: 1
unstable contact: 4
......@@ -9,7 +9,7 @@ import time
#~ scenarios = ['standing_hrp2']
scenarios = ['darpa_hyq']
#~ scenarios = ['stair_bauzil_hrp2']
n_trials = 20
n_trials = 10
stats = ['balance','collision','ik']
stats_optim = ['time_cwc','com_traj']
......
......@@ -83,10 +83,10 @@ r(q_init)
configs = fullBody.interpolate(0.001,pathId=0,robustnessTreshold = 0, filterStates = True)
"""
print "number of configs =", len(configs)
r(configs[-1])
"""
from hpp.gepetto import PathPlayer
pp = PathPlayer (fullBody.client.basic, r)
......
......@@ -73,6 +73,7 @@ ps.selectPathPlanner("DynamicPlanner")
r(q_init)
t = ps.solve ()
if isinstance(t, list):
t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
......@@ -82,6 +83,7 @@ f.close()
camera = [0.6293167471885681,
-9.560577392578125,
10.504343032836914,
......
......@@ -2487,3 +2487,75 @@ test balance 0.08 0.16 0.30 20.33 127
contact: 133
planner succeeded: 1
unstable contact: 2
contact: 10
no contact: 3
planner failed: 1
unstable contact: 1
contact: 15
no contact: 6
planner failed: 2
unstable contact: 1
contact: 9
no contact: 4
planner failed: 1
unstable contact: 1
contact: 8
no contact: 3
planner failed: 1
unstable contact: 1
contact: 136
planner failed: 1
unstable contact: 1
contact: 508
planner failed: 1
unstable contact: 1
contact: 9
no contact: 2
planner failed: 1
unstable contact: 1
contact: 296
planner failed: 1
unstable contact: 1
contact: 269
planner failed: 1
contact: 400
planner failed: 1
contact: 90
planner failed: 1
unstable contact: 1
contact: 256
planner failed: 1
unstable contact: 1
contact: 254
planner failed: 1
unstable contact: 1
contact: 535
planner failed: 1
unstable contact: 1
contact: 100
planner failed: 1
unstable contact: 1
contact: 72
planner failed: 1
unstable contact: 1
contact: 361
planner failed: 1
unstable contact: 1
contact: 420
planner failed: 1
unstable contact: 1
contact: 9
no contact: 3
planner failed: 1
contact: 264
planner failed: 1
unstable contact: 1
*** PROFILING RESULTS [ms] (min - avg - max - total time - nSamples) ***
collision 0.04 0.12 0.44 38.60 324
complete generation 40886.81 40886.81 40886.81 40886.81 1
ik 0.04 0.09 0.20 37.89 423
test balance 0.10 0.15 0.25 21.70 146
contact: 150
planner succeeded: 1
unstable contact: 4
......@@ -31,14 +31,14 @@ rLeg = 'RLEG_JOINT0'
rLegOffset = [0,0,-0.105]
rLegNormal = [0,0,1]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, "manipulability", 0.1)
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "forward", 0.1)
lLegId = 'hrp2_lleg_rom'
lLeg = 'LLEG_JOINT0'
lLegOffset = [0,0,-0.105]
lLegNormal = [0,0,1]
lLegx = 0.09; lLegy = 0.05
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 20000, "manipulability", 0.1)
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 50000, "forward", 0.1)
rarmId = 'hrp2_rarm_rom'
rarm = 'RARM_JOINT0'
......@@ -47,7 +47,7 @@ rArmOffset = [0,0,-0.1]
rArmNormal = [0,0,1]
rArmx = 0.024; rArmy = 0.024
#disabling collision for hook
fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 50000, "manipulability", 0.05, "_6_DOF", True)
fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 50000, "forward", 0.05, "_6_DOF", True)
"""
......@@ -105,7 +105,7 @@ acc_goal = tp.ps.configAtParam(0,tp.ps.pathLength(0))[tp.indexECS+3:tp.indexECS+
fullBody.setStaticStability(False)
fullBody.setStaticStability(True)
# Randomly generating a contact configuration at q_init
fullBody.setCurrentConfig (q_init)
r(q_init)
......@@ -131,9 +131,9 @@ fullBody.setEndState(q_goal,[rLegId,lLegId,rarmId])
configs = fullBody.interpolate(0.1,pathId=1,robustnessTreshold = 3, filterStates = True)
configs = fullBody.interpolate(0.001,pathId=0,robustnessTreshold = 0, filterStates = True)
print "number of configs :", len(configs)
r(configs[-1])
from hpp.gepetto import PathPlayer
......
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