Commit ed054fb4 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[script] add/update lot of scenario scripts

parent cb4275c6
......@@ -47,7 +47,7 @@ rLegLimbOffset=[0,0,-0.035]#0.035
rLegNormal = [0,0,1]
rLegx = 0.09; rLegy = 0.05
#fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "forward", 0.1,"_6_DOF")
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 100000, "fixedStep06", 0.01,"_6_DOF",limbOffset=rLegLimbOffset,kinematicConstraintsMin=0.3)
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 100000, "fixedStep06", 0.01,"_6_DOF",limbOffset=rLegLimbOffset,kinematicConstraintsMin=0.5)
fullBody.runLimbSampleAnalysis(rLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(rLegId, "./db/hrp2_rleg_db.db")
......@@ -57,7 +57,7 @@ lLegLimbOffset=[0,0,0.035]
lLegNormal = [0,0,1]
lLegx = 0.09; lLegy = 0.05
#fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 50000, "forward", 0.1,"_6_DOF")
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 100000, "fixedStep06", 0.01,"_6_DOF",limbOffset=lLegLimbOffset,kinematicConstraintsMin=0.3)
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 100000, "fixedStep06", 0.01,"_6_DOF",limbOffset=lLegLimbOffset,kinematicConstraintsMin=0.5)
fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(lLegId, "./db/hrp2_lleg_db.db")
......
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
from tools import *
import darpa_hrp2_path as tp
import time
import omniORB.any
import numpy as np
from numpy import linalg as LA
from hpp.corbaserver.rbprm.rbprmstate import State,StateHelper
packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
# Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""
pId = tp.ps.numberPaths() -1
fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-1.2,1.5,-0.05 ,0.05, 0.55, 0.85])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.basic.robot.setExtraConfigSpaceBounds([-0,0,-0,0,-0,0,0,0,0,0,0,0])
ps = tp.ProblemSolver( fullBody )
ps.client.problem.setParameter("aMax",omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("vMax",omniORB.any.to_any(tp.vMax))
r = tp.Viewer (ps,viewerClient=tp.r.client,displayArrows = True, displayCoM = True)
q_init =[0, 0, 0.648702, 1.0, 0.0 , 0.0, 0.0,0.0, 0.0, 0.0, 0.0,0.261799388, 0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0,0,0,0,0,0]; r (q_init)
q_ref = q_init[::]
fullBody.setCurrentConfig (q_init)
fullBody.setReferenceConfig (q_ref)
#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
lLegId = 'hrp2_lleg_rom'
tStart = time.time()
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,0,-0.105]
rLegLimbOffset=[0,0,-0.035]#0.035
rLegNormal = [0,0,1]
rLegx = 0.09; rLegy = 0.05
#fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "forward", 0.1,"_6_DOF")
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 100000, "fixedStep08", 0.01,"_6_DOF",limbOffset=rLegLimbOffset,kinematicConstraintsPath = "package://hpp-rbprm-corba/com_inequalities/empty_com_constraints.obj")
fullBody.runLimbSampleAnalysis(rLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(rLegId, "./db/hrp2_rleg_db.db")
lLeg = 'LLEG_JOINT0'
lLegOffset = [0,0,-0.105]
lLegLimbOffset=[0,0,0.035]
lLegNormal = [0,0,1]
lLegx = 0.09; lLegy = 0.05
#fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 50000, "forward", 0.1,"_6_DOF")
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 100000, "fixedStep08", 0.01,"_6_DOF",limbOffset=lLegLimbOffset,kinematicConstraintsPath = "package://hpp-rbprm-corba/com_inequalities/empty_com_constraints.obj")
fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(lLegId, "./db/hrp2_lleg_db.db")
## Add arms (not used for contact) :
tGenerate = time.time() - tStart
print "generate databases in : "+str(tGenerate)+" s"
"""
fullBody.addLimbDatabase("./db/hrp2_rleg_db.db",rLegId,"forward")
fullBody.addLimbDatabase("./db/hrp2_lleg_db.db",lLegId,"forward")
tLoad = time.time() - tStart
print "Load databases in : "+str(tLoad)+" s"
"""
q_0 = fullBody.getCurrentConfig();
#~ fullBody.createOctreeBoxes(r.client.gui, 1, rarmId, q_0,)
eps=0.0001
configSize = fullBody.getConfigSize() -fullBody.client.basic.robot.getDimensionExtraConfigSpace()
q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.ps.configAtParam(pId,eps)[0:7] # use this to get the correct orientation
q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.0001)[0:7]
dir_init = tp.ps.configAtParam(pId,eps)[tp.indexECS:tp.indexECS+3]
acc_init = tp.ps.configAtParam(pId,0)[tp.indexECS+3:tp.indexECS+6]
dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-eps)[tp.indexECS:tp.indexECS+3]
acc_goal = [0,0,0]
robTreshold = 1
# copy extraconfig for start and init configurations
q_init[configSize:configSize+3] = dir_init[::]
q_init[configSize+3:configSize+6] = acc_init[::]
q_goal[configSize:configSize+3] = dir_goal[::]
q_goal[configSize+3:configSize+6] = [0,0,0]
# Randomly generating a contact configuration at q_init
fullBody.setStaticStability(True)
fullBody.setCurrentConfig (q_init)
r(q_init)
q_init = fullBody.generateContacts(q_init,dir_init,acc_init,robTreshold)
r(q_init)
# Randomly generating a contact configuration at q_end
fullBody.setCurrentConfig (q_goal)
q_goal = fullBody.generateContacts(q_goal, dir_goal,acc_goal,robTreshold)
r(q_goal)
# specifying the full body configurations as start and goal state of the problem
r.addLandmark('hrp2_14/BODY',0.3)
r(q_init)
fullBody.setStartState(q_init,[rLegId,lLegId])
fullBody.setEndState(q_goal,[rLegId,lLegId])
fullBody.setStaticStability(True) # only set it after the init/goal configuration are computed
from hpp.gepetto import PathPlayer
pp = PathPlayer (fullBody.client.basic, r)
import fullBodyPlayerHrp2
tStart = time.time()
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = robTreshold, filterStates = True, testReachability=True, quasiStatic=True)
tInterpolate = time.time()-tStart
print "number of configs : ", len(configs)
print "generated in "+str(tInterpolate)+" s"
r(configs[len(configs)-2])
f = open("/local/fernbac/bench_iros18/kin_constraint_tog/without_kin_constraints.log","a")
global num_transition
global valid_transition
global length_traj
global valid_length
global dt
num_transition = 0.
valid_transition = 0.
dt = 0.001
valid_length = 0.
length_traj = 0.
def check_traj(s,c0,c1,reverse=False):
global length_traj
global valid_length
global dt
dist = LA.norm(c1-c0)
if dist < dt :
return True
length_traj += dist
current_dist = 0.
dtu = dt/dist
successProj_total = True
if not reverse :
u = 0.
while u < 1.:
c = c0*(1.-u) + c1*u
successProj = s.projectToCOM(c.transpose().tolist(),20)
current_dist += dt
if successProj :
valid_length += dt
else :
print "projection failed."
successProj_total = False
u += dtu
successProj = s.projectToCOM(c1.transpose().tolist(),20)
if successProj :
valid_length += dist - current_dist
else :
print "projection failed."
successProj_total = False
else :
u = 1.
while u > 0.:
c = c0*(1.-u) + c1*u
successProj = s.projectToCOM(c.transpose().tolist(),20)
current_dist += dt
if successProj :
valid_length += dt
else :
print "projection failed."
successProj_total = False
u -= dtu
successProj = s.projectToCOM(c0.transpose().tolist(),20)
if successProj :
valid_length += dist - current_dist
else :
print "projection failed."
successProj_total = False
return successProj_total
def check_kin_feasibility(s0Id,s1Id):
res = fullBody.isReachableFromState(s0Id,s1Id,True)
if not res[0]:
print "Error : isReachable returned False !"
raise Exception('Error : isReachable returned False !')
r(configs[s0Id])
c0 = np.array(fullBody.getCenterOfMass())
c1 = np.array(res[1])
c2 = np.array(res[2])
r(configs[s1Id])
c3 = np.array(fullBody.getCenterOfMass())
s0 = State(fullBody,sId = s0Id)
s1 = State(fullBody,sId = s1Id)
s0_orig = State(s0.fullBody,q=s0.q(),limbsIncontact=s0.getLimbsInContact())
s1_orig = State(s1.fullBody,q=s1.q(),limbsIncontact=s1.getLimbsInContact())
moving_limb = s0.contactsVariations(s1)
smid,successMid = StateHelper.removeContact(s0_orig,moving_limb[0])
if not successMid :
return False
successFeasible = True
print "check first part"
successFeasible = successFeasible and check_traj(s0_orig,c0,c1)
print "check mid part"
successFeasible = successFeasible and check_traj(smid,c1,c2)
print "check last part"
successFeasible = successFeasible and check_traj(s1_orig,c2,c3,True)
return successFeasible
for i in range(len(configs)-2):
print "check traj between state "+str(i)+" and "+str(i+1)
success = check_kin_feasibility(i,i+1)
num_transition +=1.
if success :
valid_transition +=1.
f.write("num_transition "+str(num_transition)+"\n")
f.write("valid_transition "+str(valid_transition)+"\n")
if num_transition > 0:
f.write("valid_transition_percent "+str(float(valid_transition/num_transition)*100.)+" %\n")
f.write("traj_length "+str(length_traj)+"\n")
f.write("valid_length "+str(valid_length)+"\n")
if length_traj > 0 :
f.write("valid_traj_percent "+str(float(valid_length/length_traj)*100.)+" %\n")
f.close()
#wid = r.client.gui.getWindowID("window_hpp_")
#r.client.gui.attachCameraToNode( 'hrp2_14/BODY_0',wid)
......@@ -8,7 +8,7 @@ import math
import omniORB.any
from configs.darpa import *
from hpp.corbaserver import Client
from hpp.corbaserver.robot import Robot as Parent
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
......@@ -28,7 +28,7 @@ class Robot (Parent):
self.load = load
MU=0.5
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
......@@ -91,7 +91,7 @@ r.addLandmark(r.sceneName,1)
# Setting initial and goal configurations
q_init = rbprmBuilder.getCurrentConfig ();
q_init[3:7] = [1,0,0,0]
q_init [0:3] = [-0.8, 0, 0.53]; r (q_init)
q_init [0:3] = [-0.95, 0, 0.53]; r (q_init)
#q_init [0:3] = [-0.5, 0, 0.75]; r (q_init)
rbprmBuilder.setCurrentConfig (q_init)
......
......@@ -13,15 +13,16 @@ rootJointType = "freeflyer"
##
# Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
urdfSuffix = "_reduced_safe"
#srdfSuffix = "_disable_leg_autocol"
srdfSuffix = ""
pId = tp.ps.numberPaths() -1
fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-1.2,1.5,-0.05 ,0.05, 0.55, 0.85])
fullBody.setJointBounds ("base_joint_xyz", [-1.2,1.5,-0.2 ,0.2, 0.55, 1.])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,0,0,0,0,0,0])
ps = tp.ProblemSolver( fullBody )
ps.client.problem.setParameter("aMax",omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("vMax",omniORB.any.to_any(tp.vMax))
......@@ -33,6 +34,15 @@ q_ref = q_init[::]
fullBody.setCurrentConfig (q_init)
fullBody.setReferenceConfig (q_ref)
view = [0.4,
-0.,
5.5,
0.7071067811865475,
0.,
0.,
-0.7071067811865475]
r.client.gui.setCameraTransform(0,view)
#~ AFTER loading obstacles
......@@ -42,22 +52,23 @@ tStart = time.time()
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,0,-0.105]
rLegOffset = [0,0,-0.0955]
rLegLimbOffset=[0,0,-0.035]#0.035
rLegNormal = [0,0,1]
rLegx = 0.09; rLegy = 0.05
#fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "forward", 0.1,"_6_DOF")
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 100000, "dynamicWalk", 0.01,"_6_DOF",limbOffset=rLegLimbOffset)
#fixedStep08
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 100000, "fixedStep1", 0.01,"_6_DOF",limbOffset=rLegLimbOffset,kinematicConstraintsPath = "package://hpp-rbprm-corba/com_inequalities/fullSize/RLEG_JOINT0_com_constraints.obj",kinematicConstraintsMin=0.)
fullBody.runLimbSampleAnalysis(rLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(rLegId, "./db/hrp2_rleg_db.db")
lLeg = 'LLEG_JOINT0'
lLegOffset = [0,0,-0.105]
lLegOffset = [0,0,-0.0955]
lLegLimbOffset=[0,0,0.035]
lLegNormal = [0,0,1]
lLegx = 0.09; lLegy = 0.05
#fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 50000, "forward", 0.1,"_6_DOF")
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 100000, "dynamicWalk", 0.01,"_6_DOF",limbOffset=lLegLimbOffset)
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 100000, "fixedStep1", 0.01,"_6_DOF",limbOffset=lLegLimbOffset,kinematicConstraintsPath = "package://hpp-rbprm-corba/com_inequalities/fullSize/LLEG_JOINT0_com_constraints.obj",kinematicConstraintsMin=0.)
fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(lLegId, "./db/hrp2_lleg_db.db")
......@@ -91,7 +102,7 @@ acc_init = tp.ps.configAtParam(pId,0)[tp.indexECS+3:tp.indexECS+6]
dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-eps)[tp.indexECS:tp.indexECS+3]
acc_goal = [0,0,0]
robTreshold = 1
robTreshold = 0
# copy extraconfig for start and init configurations
q_init[configSize:configSize+3] = dir_init[::]
q_init[configSize+3:configSize+6] = acc_init[::]
......@@ -99,10 +110,13 @@ q_goal[configSize:configSize+3] = dir_goal[::]
q_goal[configSize+3:configSize+6] = [0,0,0]
q_init[2] = q_init[2]+0.02
q_goal[2] = q_goal[2]+0.02
#q_init[2] = q_init[2] + 0.02
#q_goal[2] = q_goal[2] + 0.02
q_init[2] = 0.86
q_goal[2] = 0.86
"""
# Randomly generating a contact configuration at q_init
fullBody.setStaticStability(True)
fullBody.setCurrentConfig (q_init)
......@@ -114,13 +128,14 @@ r(q_init)
fullBody.setCurrentConfig (q_goal)
q_goal = fullBody.generateContacts(q_goal, dir_goal,acc_goal,robTreshold)
r(q_goal)
"""
# specifying the full body configurations as start and goal state of the problem
r.addLandmark('hrp2_14/BODY',0.3)
#r.addLandmark('hrp2_14/BODY',0.3)
r(q_init)
fullBody.setStartState(q_init,[rLegId,lLegId])
fullBody.setStartState(q_init,[lLegId,rLegId])
fullBody.setEndState(q_goal,[rLegId,lLegId])
fullBody.setStaticStability(True) # only set it after the init/goal configuration are computed
......@@ -132,26 +147,26 @@ pp = PathPlayer (fullBody.client.basic, r)
import fullBodyPlayerHrp2
tStart = time.time()
configs = fullBody.interpolate(0.1,pathId=pId,robustnessTreshold = robTreshold, filterStates = True)
tInterpolate = time.time()-tStart
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = robTreshold, filterStates = True,testReachability=False,quasiStatic=False)
tInterpolateConfigs = time.time()-tStart
print "number of configs : ", len(configs)
print "generated in "+str(tInterpolate)+" s"
r(configs[len(configs)-2])
print "generated in "+str(tInterpolateConfigs)+" s"
r(configs[-1])
player = fullBodyPlayerHrp2.Player(fullBody,pp,tp,configs,draw=False,use_window=1,optim_effector=True,use_velocity=False,pathId = pId)
#player = fullBodyPlayerHrp2.Player(fullBody,pp,tp,configs,draw=False,use_window=1,optim_effector=True,use_velocity=False,pathId = pId)
# remove the last config (= user defined q_goal, not consitent with the previous state)
#r(configs[0])
#player.displayContactPlan()
beginState=2
endState=4
beginState=0
endState=len(configs)-1
configs=configs[beginState:endState+1]
#configs=configs[beginState:endState+1]
from planning.config import *
from configs.darpa import *
from generate_contact_sequence import *
cs = generateContactSequence(fullBody,configs,beginState,endState,r)
filename = OUTPUT_DIR + "/" + OUTPUT_SEQUENCE_FILE
......@@ -180,7 +195,7 @@ addVector(r,fullBody,r.color.red,vlb)
"""
wid = r.client.gui.getWindowID("window_hpp_")
#wid = r.client.gui.getWindowID("window_hpp_")
#r.client.gui.attachCameraToNode( 'hrp2_14/BODY_0',wid)
......
......@@ -6,7 +6,7 @@ from hpp.gepetto import Viewer
import time
import math
import omniORB.any
from planning.config import *
from configs.darpa import *
from hpp.corbaserver import Client
from hpp.corbaserver.robot import Robot as Parent
......@@ -50,11 +50,11 @@ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
#rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Lean'])
#rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
#rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
vMax = 0.2;
aMax = 0.1;
vMax = 0.1;
aMax = 0.05;
extraDof = 6
rbprmBuilder.setJointBounds ("base_joint_xyz", [-1.2,1.5,-0.1 ,0.1, 0.55, 0.85])
rbprmBuilder.setJointBounds ("base_joint_xyz", [-1.2,1.5,-0.1 ,0.1, 0.55, 1.])
rbprmBuilder.setJointBounds('CHEST_JOINT0',[-0.05,0.05])
rbprmBuilder.setJointBounds('CHEST_JOINT1',[-0.05,0.05])
# We also bound the rotations of the torso. (z, y, x)
......@@ -76,7 +76,7 @@ ps.client.problem.setParameter("sizeFootX",omniORB.any.to_any(0.24))
ps.client.problem.setParameter("sizeFootY",omniORB.any.to_any(0.14))
r = Viewer (ps,displayArrows = True)
r = Viewer (ps,displayArrows = False,displayCoM=True)
from hpp.corbaserver.affordance.affordance import AffordanceTool
......@@ -85,19 +85,21 @@ afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.005])
afftool.loadObstacleModel (packageName, ENV_NAME, ENV_PREFIX, r,reduceSizes=[0.14,0])
#r.loadObstacleModel (packageName, "ground", "planning")
afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
r.addLandmark(r.sceneName,1)
#r.addLandmark(r.sceneName,1)
# Setting initial and goal configurations
q_init = rbprmBuilder.getCurrentConfig ();
q_init[3:7] = [1,0,0,0]
q_init [0:3] =[-0.37, 0, 0.74]; r (q_init)
#q_init [0:3] = [-0.5, 0, 0.75]; r (q_init)
#q_init [0:3] =[-0.37, 0, 0.74]; r (q_init)
q_init [0:3] =[-0.71, -0.03, 0.76]; r (q_init)
rbprmBuilder.setCurrentConfig (q_init)
q_goal = q_init [::]
q_goal [0:3] =[0.85, 0, 0.74]; r(q_goal)
#q_goal [0:3] = [1, 0, 0.75]; r(q_goal)
q_goal [0:3] =[1.12, -0.03, 0.76]; r(q_goal)
#q_goal [0:3] =[0.85, 0, 0.74]; r(q_goal)
r (q_goal)
......
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
from hpp.corbaserver import Client
from hpp.corbaserver.robot import Robot as Parent
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
import omniORB.any
class Robot (Parent):
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
# URDF file describing the trunk of the robot HyQ
urdfName = 'hrp2_trunk_flexible'
urdfSuffix = ""
srdfSuffix = ""
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, self.rootJointType, load)
self.tf_root = "base_footprint"
self.client.basic = Client ()
self.load = load
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRom = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
vMax = 4;
aMax = 6;
extraDof = 6
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
#rbprmBuilder.setJointBounds ("base_joint_xyz", [-1.25,2, -0.5, 5.5, 0.6, 1.8])
rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,4, 0, 2, 0.2, 1.8])
rbprmBuilder.setJointBounds('CHEST_JOINT0',[0,0])
rbprmBuilder.setJointBounds('CHEST_JOINT1',[-0.35,0.1])
rbprmBuilder.setJointBounds('HEAD_JOINT0',[0,0])
rbprmBuilder.setJointBounds('HEAD_JOINT1',[0,0])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
# We also bound the rotations of the torso. (z, y, x)
rbprmBuilder.boundSO3([-0.1,0.1,-0.65,0.65,-0.2,0.2])
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof)
rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([-4,4,-1,1,-2,2,0,0,0,0,0,0])
indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace()
# Creating an instance of HPP problem solver and the viewer