ps.solve ()
# PROBLEM !! not finding solution for environment_3d_window with mu=0.5 V0max=6.5 Projectionshooter .... V0 or Vimp too much limiting ?? 'cause V0max=7 gives a too "easy" solution ...
samples = plotSampleSubPath (cl, r, 0, 20, "curvy", [0,0.8,0.2,1])
plotConeWaypoints (cl, 0, r, "wp", "friction_cone")
#ps.saveRoadmap ('/local/mcampana/devel/hpp/data/PARAB_envir3d_with_window.rdm')
r.client.gui.setVisibility('robot/l_bounding_sphere',"OFF")
samples = plotSampleSubPath (cl, r, 0, 20, "curvy", [0,0.8,0.2,1])
r(ps.configAtParam(0,0.001))
ps.pathLength(0)
ps.getWaypoints (0)
## 3D Plot tools ##
q0 = [0, 0, 5, 0, 0, 0, 1, 0, 0, 1, 0];
r(q0)
plotFrame (r, "_", [0,0,4], 0.5)
plotPath (cl, 0, r, "pathy", 0.1)
plotThetaPlane (q1, q2, r, "ThetaPlane2")
plotCone (q1, cl, r, 0.5, 0.4, "c1")
plotCone (q2, cl, r, 0.5, 0.4, "c2")
ps.clearPathOptimizers()
ps.addPathOptimizer('PartialShortcut')
ps.optimizePath(0)
ps.pathLength(ps.numberPaths() - 1)
ps.clearPathOptimizers()
ps.addPathOptimizer("GradientBased")
ps.optimizePath(0)
ps.numberPaths()
ps.pathLength(ps.numberPaths() - 1)
pp(ps.numberPaths() - 1)
ps.clearPathOptimizers()
len(ps.getWaypoints(0))
from hpp.gepetto import Viewer, PathPlayer
r = Viewer(ps)
pp = PathPlayer(cl, r)
r.loadObstacleModel("potential_description", "obstacles_concaves",
"obstacles_concaves")
import numpy as np
dt = 0.1
nPath = 0
points = []
for t in np.arange(0., cl.problem.pathLength(nPath), dt):
points.append([
cl.problem.configAtParam(nPath, t)[0],
cl.problem.configAtParam(nPath, t)[1], 0
ps.setInitialConfig (q1proj); ps.addGoalConfig (q2proj)
ps.loadObstacleFromUrdf ("iai_maps", "kitchen_area", "") # environment
#RRT-connect: path of 36s with 68 waypoints (2600 var to optimize)
#ps.selectPathPlanner ("VisibilityPrmPlanner")
ps.solve ()
ps.optimizePath(0)
pp = PathPlayer (robot.client, r)
pp (0)
pp (1)
len(ps.getWaypoints (0))
robot.client.problem.getIterationNumber ()
ps.pathLength(0)
ps.pathLength(1)
## Video recording
r.startCapture ("capture","png")
pp(0)
r.stopCapture ()
## DEBUG commands
cl.obstacle.getObstaclePosition('obstacle_base')
cl.robot.getJointOuterObjects('CHEST_JOINT1')
cl.robot.getCurrentConfig()
robot.isConfigValid(q1)
ps.solve()
ps.resetGoalConfigs()
ps.setInitialConfig(q10)
ps.addGoalConfig(q11)
ps.solve()
ps.resetGoalConfigs()
ps.setInitialConfig(q11)
ps.addGoalConfig(q12)
ps.solve()
ps.resetGoalConfigs()
ps.setInitialConfig(q1)
ps.addGoalConfig(q12)
ps.solve()
# 11
cl.problem.pathLength(11)
len(ps.getWaypoints(11))
ps.addPathOptimizer("Prune")
ps.optimizePath(11)
ps.numberPaths()
ps.pathLength(ps.numberPaths() - 1)
len(ps.getWaypoints(ps.numberPaths() - 1))
ps.clearPathOptimizers()
ps.addPathOptimizer("GradientBased")
ps.optimizePath(11)
ps.numberPaths()
ps.pathLength(ps.numberPaths() - 1)
tGB = cl.problem.getTimeGB()
timeValuesGB = cl.problem.getTimeValues()
gainValuesGB = cl.problem.getGainValues()
# q = [x, y, theta] # (z not considered since planar)
q1 = [-4, 4, 1, 0]; q2 = [4, -4, 1, 0] # obstS 1
#q1 = [-4, 4, 0]; q2 = [4, -4, 0] # obstS 1
ps.setInitialConfig (q1); ps.addGoalConfig (q2)
cl.obstacle.loadObstacleModel('potential_description','obstacles_concaves','obstacles_concaves')
#ps.createOrientationConstraint ("orConstraint", "base_joint_rz", "", [1,0,0,0], [0,0,1])
#ps.setNumericalConstraints ("constraints", ["orConstraint"])
ps.selectPathPlanner ("VisibilityPrmPlanner")
ps.selectPathValidation ("Dichotomy", 0.)
ps.solve ()
ps.pathLength(0)
len(ps.getWaypoints (0))
import numpy as np
ps.addPathOptimizer("Prune")
ps.optimizePath (0)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)
len(ps.getWaypoints (ps.numberPaths()-1))
ps.clearPathOptimizers()
#cl.problem.setAlphaInit (0.05)
ps.addPathOptimizer("GradientBased")
ps.optimizePath (1)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)
offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2 plotFrame (r, "_", [0,0,1.5], 0.5) # First parabolas: vmax = 8m/s, mu = 1.2 cl.problem.setFrictionCoef(1.2); cl.problem.setMaxVelocityLim(4.5) plotCone (q1, cl, r, "cone2", "friction_cone2"); plotCone (q2, cl, r, "cone22", "friction_cone2") ps.clearRoadmap(); solveTime = ps.solve () # 0.312 s pahtId = ps.numberPaths()-offsetOrientedPath # path without orientation stuff samples = plotSampleSubPath (cl, r, pahtId, nPointsPlot, "path0", [0,0,1,1]) plotConeWaypoints (cl, pahtId, r, "wp0", "friction_cone2") plotSpheresWaypoints (cl, pahtId, r, "sphere_wp0", [0,0,1,1], 0.02) print "solve duration: " + str(solveTime) print "path length: " + str(ps.pathLength(pahtId)) print "number of waypoints: " + str(len(ps.getWaypoints (pahtId))) print "number of nodes: " + str(ps.numberNodes ()) cl.problem.getResultValues() # Second parabolas: vmax = 6.5m/s, mu = 0.5 plotCone (q1, cl, r, "cone1", "friction_cone"); plotCone (q2, cl, r, "cone12", "friction_cone") cl.problem.setFrictionCoef(0.5); cl.problem.setMaxVelocityLim(4.5) ps.clearRoadmap(); solveTime = ps.solve () # 0.9689 s pahtId = ps.numberPaths()-offsetOrientedPath samples = plotSampleSubPath (cl, r, pahtId, nPointsPlot, "path2", [1,0,0,1]) plotConeWaypoints (cl, pahtId, r, "wp2", "friction_cone") plotSpheresWaypoints (cl, pahtId, r, "sphere_wp2", [1,0,0,1], 0.02) print "solve duration: " + str(solveTime) print "path length: " + str(ps.pathLength(pahtId)) print "number of waypoints: " + str(len(ps.getWaypoints (pahtId)))
cl.problem.getComputationTime ()
ps.pathLength(0)
ps.pathLength(1)
begin=time.time()
ps.optimizePath(1)
end=time.time()
print "Optim2 time: "+str(end-begin)
cl.problem.getIterationNumber ()
ps.pathLength(0)
ps.pathLength(1)
ps.pathLength(2)
len(ps.getWaypoints (0))
ps.optimizePath(3)
ps.pathLength(4)
cl.problem.getIterationNumber ()
pp (0)
pp (1)
## Video recording
r.startCapture ("capture","png")
pp(1)
r.stopCapture ()
r.startCapture ("capture","png")
pp(2)
r.stopCapture ()
robot.setJointBounds('base_joint_xyz', [-6, 6.7, -2.5, 3.2, 0, 3]) # start to bottom
q11 = [5.7, 0.5, 0.5, 0, 0, 0, 1, 0, 0, 1, 0]
q22 = [-3.5, 1.7, 0.4, 0, 0, 0, 1, 0, 0, 1, 0]
cl.problem.generateValidConfig(2)
r.client.gui.setVisibility('robot/l_bounding_sphere',"OFF")
-5.36273,1.76984,3.28844,0.707032,0.0102817,-0.707032,0.0102817,-0.999577,-0.0290779,-0,-4.57484e+238
r(ps.configAtParam(0,0.001))
ps.pathLength(0)
wp = ps.getWaypoints (0)
# Get projected random configs CONES and display them
num_log = 7308
qrands = parseConfig(num_log,'INFO:/local/mcampana/devel/hpp/src/hpp-core/src/parabola/parabola-planner.cc:157: q_proj: ')
sphereNamePrefix="qrand_sphere_"
for i in range(0,len(qrands)):
qrand = qrands[i]
#sphereName = sphereNamePrefix+str(i)
#r.client.gui.addSphere (sphereName,0.1,[0.8,0.1,0.1,1]) # red
#r.client.gui.applyConfiguration (sphereName, [qrand[0],qrand[1],qrand[2],1,0,0,0])
#r.client.gui.addToGroup (sphereName, r.sceneName)
coneName = sphereNamePrefix+str(i)
qCone = cl.robot.setOrientation (qrand.tolist())
r.loadObstacleModel ("animals_description","friction_cone2",coneName)
r.client.gui.applyConfiguration (coneName, qCone[0:7])
#cl.problem.setFrictionCoef(mu); cl.problem.setMaxVelocityLim(vmax)
toSeconds = np.array ([60*60,60,1,1e-3])
offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2
imax=3;
f = open('results.txt','a')
# Assuming that seed in modified directly in HPP (e.g. in core::PathPlanner::solve or ProblemSolver constr)
for i in range(0, imax):
print i
ps.clearRoadmap ()
solveTimeVector = ps.solve ()
solveTime = np.array (solveTimeVector).dot (toSeconds)
pathId = ps.numberPaths()-offsetOrientedPath
pathLength = ps.pathLength (pathId)
pathNumberWaypoints = len(ps.getWaypoints (pathId))
roadmapNumberNodes = ps.numberNodes ()
#TODO: number collisions (checked ???)
#TODO: number parabola that has failed (because of which constraint ??)
#ps.addPathOptimizer("Prune")
#ps.optimizePath (pathId)
#prunePathId = ps.numberPaths()-1
# Write important results #
f.write('Try number: '+str(i)+'\n')
f.write('with parameters: vmax='+str(vmax)+' and mu='+str(mu)+'\n')
f.write('solve duration: '+str(solveTime)+'\n')
f.write('path length: '+str(pathLength)+'\n')
f.write('number of waypoints: '+str(pathNumberWaypoints)+'\n')
f.write('number of nodes: '+str(roadmapNumberNodes)+'\n')
from hpp.gepetto import ViewerFactory
vf = ViewerFactory(ps)
q_init = robot.getCurrentConfig()
q_goal = q_init[::]
q_init[0:2] = [-60, -4]
vf.loadObstacleModel("iai_maps", "ville1", "ville1_link")
v = vf.createViewer()
ps.setInitialConfig(q_init)
ps.addGoalConfig(q_goal)
ps.addPathOptimizer("RandomShortcut")
print(ps.solve())
ps.setInitialConfig(q_init)
ps.addGoalConfig(q_goal)
ps.addPathOptimizer("RandomShortcut")
from hpp.gepetto import PathPlayer
pp = PathPlayer(v)
pp.displayPath(1)
#pp (0)
import json
a = ps.getWaypoints(1)
with open('roadmap.txt', 'w') as f:
for i in a[0]:
json.dump(i, f)
f.write("\n")
ps.setInitialConfig (q6); ps.addGoalConfig (q7); ps.solve (); ps.resetGoalConfigs ()
ps.setInitialConfig (q7); ps.addGoalConfig (q8); ps.solve (); ps.resetGoalConfigs ()
ps.setInitialConfig (q1); ps.addGoalConfig (q8); ps.solve (); # 7
nInitialPath = ps.numberPaths()-1 #8
ps.pathLength(nInitialPath)
ps.addPathOptimizer("GradientBased")
#ps.addPathOptimizer("Prune")
#ps.addPathOptimizer("PartialRandomShortcut")
ps.optimizePath(nInitialPath)
ps.pathLength(ps.numberPaths()-1)
ps.getWaypoints (nInitialPath)
ps.getWaypoints (ps.numberPaths()-1)
"""
from hpp.gepetto import Viewer, PathPlayer
Viewer.withFloor = True
r = Viewer (ps)
pp = PathPlayer (cl, r)
r.loadObstacleModel ("robot_2d_description","cylinder_obstacle","cylinder_obstacle")
"""
git commit -m "Remove inverse Hessian computation from Cost"
## Debug Optimization Tools ##############
#cl.problem.setFrictionCoef(mu); cl.problem.setMaxVelocityLim(vmax)
toSeconds = np.array([60 * 60, 60, 1, 1e-3])
offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2
imax = 3
f = open('results.txt', 'a')
# Assuming that seed in modified directly in HPP (e.g. in core::PathPlanner::solve or ProblemSolver constr)
for i in range(0, imax):
print i
ps.clearRoadmap()
solveTimeVector = ps.solve()
solveTime = np.array(solveTimeVector).dot(toSeconds)
pathId = ps.numberPaths() - offsetOrientedPath
pathLength = ps.pathLength(pathId)
pathNumberWaypoints = len(ps.getWaypoints(pathId))
roadmapNumberNodes = ps.numberNodes()
#TODO: number collisions (checked ???)
#TODO: number parabola that has failed (because of which constraint ??)
#ps.addPathOptimizer("Prune")
#ps.optimizePath (pathId)
#prunePathId = ps.numberPaths()-1
# Write important results #
f.write('Try number: ' + str(i) + '\n')
f.write('with parameters: vmax=' + str(vmax) + ' and mu=' + str(mu) + '\n')
f.write('solve duration: ' + str(solveTime) + '\n')
f.write('path length: ' + str(pathLength) + '\n')
f.write('number of waypoints: ' + str(pathNumberWaypoints) + '\n')
f.write('number of nodes: ' + str(roadmapNumberNodes) + '\n')
# q = [x, y] # limits in URDF file
q1 = [-2, 0]; q2 = [-0.2, 2]; q3 = [0.2, 2]; q4 = [2, 0]
ps.setInitialConfig (q1); ps.addGoalConfig (q2); ps.solve (); ps.resetGoalConfigs ()
ps.setInitialConfig (q2); ps.addGoalConfig (q3); ps.solve (); ps.resetGoalConfigs ()
ps.setInitialConfig (q3); ps.addGoalConfig (q4); ps.solve (); ps.resetGoalConfigs ()
ps.setInitialConfig (q1); ps.addGoalConfig (q4); ps.solve (); ps.resetGoalConfigs ()
# pp(3) = p0 final
#ps.addPathOptimizer("GradientBased")
#ps.addPathOptimizer("Prune")
ps.addPathOptimizer("PartialRandomShortcut")
ps.optimizePath(3) # pp(4) = p1 final
ps.pathLength(3)
ps.pathLength(4)
ps.getWaypoints (3)
ps.getWaypoints (4)
# should be [-0.07 0] [0.07 0] if alpha_init=1
"""
q1 = [-2, 0]; q2 = [-1, 1]
ps.setInitialConfig (q1); ps.addGoalConfig (q2); ps.solve ()
ps.resetGoalConfigs ()
q1 = [-1, 1]; q2 = [-1.2, 1.8]
ps.setInitialConfig (q1); ps.addGoalConfig (q2); ps.solve ()
ps.resetGoalConfigs ()
q1 = [-1.2, 1.8]; q2 = [-0.2, 1.2]
ps.setInitialConfig (q1); ps.addGoalConfig (q2); ps.solve ()
ps.resetGoalConfigs ()
q1 = [-0.2, 1.2]; q2 = [0.5, 1.9]
# q = [x, y, theta] # (z not considered since planar)
q1 = [-2, 0, 1, 0]; q2 = [2, 0, 1, 0]
ps.setInitialConfig (q1); ps.addGoalConfig (q2)
cl.obstacle.loadObstacleModel('potential_description','cylinder_obstacle','')
ps.createOrientationConstraint ("orConstraint", "base_joint_rz", "", [1,0,0,0], [0,0,1]) # OK
ps.setNumericalConstraints ("constraints", ["orConstraint"])
ps.solve ()
ps.configAtParam(0,2)
ps.configAtParam(0,6)
ps.configAtParam(0,13)
ps.getWaypoints (0)[1]
ps.optimizePath(0)
ps.pathLength(0)
ps.pathLength(1)
ps.configAtParam(1,2)
ps.configAtParam(1,6)
ps.configAtParam(1,13)
ps.getWaypoints (1)[1]
len(ps.getWaypoints (0))
cl.problem.getIterationNumber()
"""
nPointsPlot = 50 offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2 plotFrame (r, "_", [0,0,2.8], 0.5) # First parabola(s): vmax = 6.8m/s, mu = 1.2 cl.problem.setFrictionCoef(1.2); cl.problem.setMaxVelocityLim(6.8) plotCone (q1, cl, r, "cone2", "friction_cone2"); plotCone (q2, cl, r, "cone22", "friction_cone2") ps.clearRoadmap(); solveTime = ps.solve () # 0.085 s pahtId = ps.numberPaths()-offsetOrientedPath # path without orientation stuff samples = plotSampleSubPath (cl, r, pahtId, nPointsPlot, "path0", [0,0,1,1]) plotConeWaypoints (cl, pahtId, r, "wp0", "friction_cone2") plotSpheresWaypoints (cl, pahtId, r, "sphere_wp0", [0,0,1,1], 0.02) print "solve duration: " + str(solveTime) print "path length: " + str(ps.pathLength(pahtId)) print "number of waypoints: " + str(len(ps.getWaypoints (pahtId))) print "number of nodes: " + str(ps.numberNodes ()) cl.problem.getResultValues () # Second parabola(s): vmax = 5.3m/s, mu = 0.5 plotCone (q1, cl, r, "cone1", "friction_cone"); plotCone (q2, cl, r, "cone12", "friction_cone") cl.problem.setFrictionCoef(0.5); cl.problem.setMaxVelocityLim(5.3) ps.clearRoadmap(); solveTime = ps.solve () # 0.738 s pahtId = ps.numberPaths()-offsetOrientedPath samples = plotSampleSubPath (cl, r, pahtId, nPointsPlot, "path2", [0.2,0.8,0.2,1]) plotConeWaypoints (cl, pahtId, r, "wp2", "friction_cone") plotSpheresWaypoints (cl, pahtId, r, "sphere_wp2", [0.2,0.8,0.2,1], 0.02) print "solve duration: " + str(solveTime) print "path length: " + str(ps.pathLength(pahtId))
# Configs : [x, y, z, qw, qx, qy, qz, nx, ny, nz, theta]
q1 = [0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0]
q2 = [1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0]
from hpp.gepetto import Viewer, PathPlayer
r = Viewer (ps)
pp = PathPlayer (robot.client, r)
#r.loadObstacleModel ("animals_description","cave","cave")
#cl.obstacle.loadObstacleModel('animals_description','cave','cave')
r(q2)
ps.setInitialConfig (q1); ps.addGoalConfig (q2); ps.solve ()
# verif orientation:
r(ps.getWaypoints (0)[0]) # ref
r(ps.getWaypoints (1)[0]) # should be good...
index = cl.robot.getConfigSize () - 4
q = q1[::]
plotStraightLine ([q[index], q[index+1], q[index+2]], q, r, "normale")
plotCone (q1, cl, r, 0.5, 0.2, "cone1")
plotCone (q2, cl, r, 0.5, 0.2, "cone2")
r( ps.configAtParam(0,2) )
ps.pathLength(0)
ps.getWaypoints (0)
ps.getWaypoints (1)
plotPath (cl, 0, r, "pathy", 0.1) # time-step should depend on sub-path length ?
ps.addPathOptimizer('RandomShortcut')
ps.optimizePath (0)
ps.pathLength(1)
ps.clearPathOptimizers()
ps.addPathOptimizer("GradientBased")
ps.optimizePath (0)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)
pp(ps.numberPaths()-1)
r(ps.configAtParam(0,2))
ps.getWaypoints (0)
# Add light to scene
lightName = "li4"
r.client.gui.addLight (lightName, r.windowId, 0.01, [0.4,0.4,0.4,0.5])
r.client.gui.addToGroup (lightName, r.sceneName)
r.client.gui.applyConfiguration (lightName, [1,0,0,1,0,0,0])
r.client.gui.refresh ()
## Video recording
pp.dt = 0.02
r.startCapture ("capture","png")
#pp(1)
pp(ps.numberPaths()-1)
#ps.saveRoadmap ('/local/mcampana/devel/hpp/data/PARAB_envir3d_with_window.rdm')
# start to bottom
ps.resetGoalConfigs ()
robot.setJointBounds('base_joint_xyz', [-6, 6.7, -2.5, 3.2, 0, 3]) # start to bottom
q11 = [5.7, 0.5, 0.5, 0, 0, 0, 1, 0, 0, 1, 0]
q22 = [-3.5, 1.7, 0.4, 0, 0, 0, 1, 0, 0, 1, 0]
cl.problem.generateValidConfig(2)
r.client.gui.setVisibility('robot/l_bounding_sphere',"OFF")
r(ps.configAtParam(0,0.001))
ps.pathLength(0)
wp = ps.getWaypoints (0)
# Get projected random configs CONES and display them
num_log = 7308
qrands = parseConfig(num_log,'INFO:/local/mcampana/devel/hpp/src/hpp-core/src/parabola/parabola-planner.cc:157: q_proj: ')
sphereNamePrefix="qrand_sphere_"
for i in range(0,len(qrands)):
qrand = qrands[i]
#sphereName = sphereNamePrefix+str(i)
#r.client.gui.addSphere (sphereName,0.1,[0.8,0.1,0.1,1]) # red
#r.client.gui.applyConfiguration (sphereName, [qrand[0],qrand[1],qrand[2],1,0,0,0])
#r.client.gui.addToGroup (sphereName, r.sceneName)
coneName = sphereNamePrefix+str(i)
qCone = cl.robot.setOrientation (qrand.tolist())
r.loadObstacleModel ("animals_description","friction_cone2",coneName)
r.client.gui.applyConfiguration (coneName, qCone[0:7])
#ps.addPathOptimizer('RandomShortcut') #9
#ps.optimizePath (nInitialPath)
#ps.pathLength(ps.numberPaths()-1)
#ps.clearPathOptimizers()
ps.addPathOptimizer("GradientBased")
ps.optimizePath (nInitialPath)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)
pp(ps.numberPaths()-1)
ps.configAtParam(2,0.5)
r(ps.configAtParam(0,2))
ps.getWaypoints (0)
ps.getWaypoints (ps.numberPaths()-1)
# plot paths
import numpy as np
dt = 0.1
nPath = ps.numberPaths()-1
lineNamePrefix = "optimized_path"
for t in np.arange(0., cl.problem.pathLength(nPath), dt):
lineName = lineNamePrefix+str(t)
r.client.gui.addLine(lineName,[cl.problem.configAtParam(nPath, t)[0],cl.problem.configAtParam(nPath, t)[1],0],[cl.problem.configAtParam(nPath, t+dt)[0],cl.problem.configAtParam(nPath, t+dt)[1],0],[0,1,0.3,1])
r.client.gui.addToGroup (lineName, r.sceneName)
nPath = nInitialPath
lineNamePrefix = "initial_path"
for t in np.arange(0., cl.problem.pathLength(nPath), dt):
#cl.problem.generateValidConfig(2)
q1 = cl.robot.projectOnObstacle (q11, 0.01)
robot.isConfigValid(q1)
q2 = cl.robot.projectOnObstacle (q22, 0.01)
robot.isConfigValid(q2)
r(q2)
ps.setInitialConfig (q1); ps.addGoalConfig (q2)
ps.solve ()
samples = plotSampleSubPath (cl, r, 0, 20, "curvy", [0,0.8,0.2,1])
#ps.resetGoalConfigs ()
#ps.saveRoadmap ('/local/mcampana/devel/hpp/data/PARAB_ant_in_room1.rdm')
wp = ps.getWaypoints (1)
r.client.gui.setVisibility('robot/l_bounding_sphere',"OFF")
r(ps.configAtParam(0,0.001))
ps.pathLength(0)
ps.getWaypoints (0)
## 3D Plot tools ##
q0 = [0, 0, 5, 0, 0, 0, 1, 0, 0, 1, 0];
r(q0)
plotFrame (r, "_", [0,0,4], 0.5)
plotPath (cl, 0, r, "pathy", 0.1)