Copyright 2015-2020 LAAS-CNRS

Authors: Steve Tonneau, Pierre Fernbach

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.

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)

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

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

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.

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

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