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Commit d2a2d7a2 authored by Steve Tonneau's avatar Steve Tonneau
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updated README.md

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# hpp-rbprm-corba # Humanoid Path Planner - RBPRM-CORBA module
python bindings for the rbprm library
Copyright 2015 LAAS-CNRS
Author: Steve Tonneau
##Description
hpp-rbprm-corba implements python bindings for hpp-rbprm, and presents a few example files.
Please refer to this [link](https://github.com/stonneau/hpp-rbprm) for information on hpp-rbprm.
##Installation on ubuntu-14.04 64 bit with ros-indigo
To install hpp-rbprm-corba:
1. install HPP-RBPRM
- see https://github.com/stonneau/hpp-rbprm
2. Use CMake to install the library. For instance:
- mkdir $HPP_RBPRM_CORBA_DIR/build
- cd $HPP_RBPRM_CORBA_DIR/build
- cd cmake ..
- make install
##Documentation
Open $DEVEL_DIR/install/share/doc/hpp-rbprm-corba/doxygen-html/index.html in a web brower and you
will have access to the code documentation. If you are using ipython, the documentation of the methods implemented
is also directly available in a python console.
##Example
To see the planner in action, two examples from our IJRR submission with HyQ are available. Examples with HRP-2 are also provided,
though they can only be executed if you have access to HRP-2 model.
###Model description
- First of all, retrieve and build the HyQ model from its github repository:
https://github.com/iit-DLSLab/hyq-description
$ rosrun xacro xacro.py hyq_description/robots/hyq_model.urdf.xacro -o hyq.urdf
- Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/
- The planning is decomposed in two phases / scripts. First, a root path is computed (\*_path.py files). Then, the contacts are generated along the computed path (\*_interp.py files). The scripts are located in the folder /scripts/scenarios.
- To only plan and see the root path, run:
$ ./run.sh darpa_hyq_path.py
- To generate the complete contact sequence, run:
$ ./run.sh darpa_hyq_interp.py
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