Copyright 2015 LAAS-CNRS

Author: Steve Tonneau

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 to your apt configuration: http://robotpkg.openrobots.org/debian.html
2. sudo apt update && sudo apt install robotpkg-hpp-rbprm-corba
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/python2.7/site-packages:$PYTHONPATH

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-viwer server

sudo apt install -qqy robotpkg-py27-qt4-gepetto-viewer-corba

sudo apt install -qqy robotpkg-py27-qt4-hpp-gepetto-viewer

2. Install the pinocchio bindings

sudo apt install -qqy robotpkg-py27-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.

• If you installed the planner form binaries, you need to download the scripts as explained here. Otherwise you can find them directly in script/scenarios/demos folder. For the binary proceudre, create a folder and cd in to it, then type

wget https://raw.githubusercontent.com/humanoid-path-planner/hpp-rbprm-corba/master/script/scenarios/demos/darpa_hyq.py

wget https://raw.githubusercontent.com/humanoid-path-planner/hpp-rbprm-corba/master/script/scenarios/demos/darpa_hyq_path.py

wget https://raw.githubusercontent.com/humanoid-path-planner/hpp-rbprm-corba/devel/script/scenarios/demos/run.sh

• Make the run.sh script executable:chmod +x run.sh

• 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/demos.

• To see the different steps of the process run

  ``$ ./run.sh darpa_hyq.py`

The script include comments explaining the different calls to the library. You can call the different methods a() ... d() to see the different steps of the planning.