Humanoid Path Planner - RBPRM-CORBA module

Copyright 2015-2020 LAAS-CNRS

Authors: Steve Tonneau, Pierre Fernbach

Description

hpp-rbprm-corba implements python bindings for hpp-rbprm, and presents a few example files. Please refer to this link for information on hpp-rbprm.

Installation from binary package repository

1. Add robotpkg/wip to your apt configuration: http://robotpkg.openrobots.org/robotpkg-wip.html
2. sudo apt update && sudo apt install robotpkg-pyXX-hpp-rbprm-corba (replace pyXX with your python version)
3. Then, you will need to export some variables to allow you system to find the executables:

export PATH=${PATH:+$PATH:}/opt/openrobots/bin:/opt/openrobots/sbin

export MANPATH=${MANPATH:+$MANPATH:}/opt/openrobots/man

export PYTHONPATH=/opt/openrobots/lib/pythonXX/site-packages:$PYTHONPATH(replace XX with your python version)

export ROS_PACKAGE_PATH="$ROS_PACKAGE_PATH:/opt/openrobots/share"

export DEVEL_HPP_DIR=/opt/openrobots/

(you may want to add these to your .bashrc file)

Installation From source on ubuntu-16.04 64 bit with ros-kinetic

1. Follow this instructions : http://humanoid-path-planner.github.io/hpp-doc/download.html (select 'Devellopement" in the list)
2. Once this installation is complete, run make rbprm

Optional: installing viewer and python bindings for dependencies

If you are planning to use the visualization tools used by the Gepetto team, along with python examples, you may need a few extra steps:

1. Install the gepetto-viewer server

sudo apt install -qqy robotpkg-pyXX-qt4-gepetto-viewer-corba

sudo apt install -qqy robotpkg-pyXX-qt4-hpp-gepetto-viewer

2. Install the pinocchio bindings

sudo apt install -qqy robotpkg-pyXX-pinocchio

3. Install the dae extension for osg

sudo apt install -qqy robotpkg-osg-dae

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, one example from our IJRR submission with HyQ is available. Examples with HRP-2 are also provided, though they can only be executed if you have access to HRP-2 model.

• You can find the scripts in your install directory, in lib/pythonXX/dist-packages/hpp/corbaserver/rbprm/scenarios/demos folder.

• 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.

• In order to start a scenario, run:

python -im hpp.corbaserver.rbprm demos.hyq_darpa

Replace demos.hyq_darpa with the name of any file in the demos or memmo folder to try different scenarios.

• Once the script have been executed, you can display the results in the viewer (if you installed it):

  • If it was a \*_path.py script, you can run:

    • planner.play_path() to display the computed guide path

    • planner.v(planner.q_init) or planner.v(planner.q_goal) to put the robot at the initial / goal position of the planning

  • If it was a a contact generation script, you can run:

    • cg.display_sequence() to display the sequence of configurations in contact computed

    • cg.display_init_config() or cg.display_end_config() to put the robot at the initial / final whole body configuration

    • cg.v(cg.configs[i]) to display the i-th wholebody configuration of the sequence

    • cg.play_guide_path() to display the guide path

Creating a new scenario script

Start from one of the scripts in the scenarios/demos folder, eg talos_flatGround.py.

• All the \*_path.py scripts must define a class called PathPlanner that inherit from one of the {robot}_path_planner classes defined in the scenarios folder.

  • In the run() method, define the environment used and the initial/goal position

  • If further customization is needed, override the required methods from the parent class.

• All the contact generation scripts must define a class called ContactGenerator that inherit from one of the {robot}_contact_generator classes defined in the scenarios folder.

  • In the constructor of this class, the parent constructor must be called with an instance of the desired PathPlanner class, defining the environment and the guide trajectory.

  • This class may override any method from the parent class in order to change the default settings/choices regarding the contact generation