Implementation of the Irreducible configuration space algorithm using HPP

• Input: Mechanical System, represented by an URDF file
• Output: Q, a subset of the configuration space of the input system, containing the irreducible set of configurations

Algorithmic Structure:

• Sampling of the free configuration space
• Each sample is checked for irreducibility
• Final set approximates the irreducible configuration space

Dependencies:

• ros-hydro
• humanoid-path-planner
• scipy

Start:

In seperate terminals do

  roslaunch hpp_ros hpp_ros.launch

  ${DEVEL_SRC}/install/bin/hpp-wholebody-step-server

  cd irreducible-configuration-space/scripts
  ipython
  >>> execfile('test_robot_movement.py')