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 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. If necessary, install hpp-corba-template

      git clone --recursive https://github.com/laas/hpp-template-corba.git
      cd hpp-template-corba/
      mkdir build && cd build
      cmake ..
      make install
   

3. Use CMake to install the library. For instance:

      mkdir $HPP_RBPRM_CORBA_DIR/build
      cd $HPP_RBPRM_CORBA_DIR/build
      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.

• 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.urdf.xacro -o hyq.urdf

• Make sure to install hyq.urdf in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/

• Also, create an empty hyq.srdf file in $HPP_DEVEL_DIR/install/share/hpp-rbprm-corba/srdf

• 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

The scripts include comments explaining the different calls to the library.