Python FullBody.setJointBounds示例

示例#1

文件： olivier_urdf.py 项目： airobert/hpp-rbprm-corba

def loadRobot(packageName,meshPackageName,rootJointType,urdfName,urdfSuffix,srdfSuffix, limbId, limbRoot, limbEffector):
	fullBody = FullBody ()
	fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
	fullBody.setJointBounds ("base_joint_xyz", [0,0,0,0,0,0])

	limbOffset = [0,0,0] #inutile ici
	limbNormal = [0,1,0] #inutile ici
	limbx = 0.09; limby = 0.05 #inutile ici
	fullBody.addLimb(limbId,limbRoot,'',limbOffset,limbNormal, limbx, limby, 1000, "manipulability", 0.1)
	return fullBody

示例#2

文件： stair_bauzil_hrp2_interp.py 项目： rohanpsingh/hpp-rbprm-corba

import stair_bauzil_hrp2_path as tp

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-0.135, 2, -1, 1, 0, 2.2])

ps = tp.ProblemSolver(fullBody)
r = tp.Viewer(ps)

#~ AFTER loading obstacles
rLegId = '0rLeg'
rLeg = 'RLEG_JOINT0'
rLegOffset = [
    0,
    -0.105,
    0,
]
rLegNormal = [0, 1, 0]
rLegx = 0.09
rLegy = 0.05

示例#3

文件： ground_crouch_hyq_bridge.py 项目： rohanpsingh/hpp-rbprm-corba

import ground_crouch_hyq_path as tp

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-6, 5, -4, 4, 0.6, 2])

from hpp.corbaserver.rbprm.problem_solver import ProblemSolver

nbSamples = 20000

ps = tp.ProblemSolver(fullBody)
r = tp.Viewer(ps)

rootName = 'base_joint_xyz'

#  Creating limbs
# cType is "_3_DOF": positional constraint, but no rotation (contacts are punctual)
cType = "_3_DOF"
# string identifying the limb
rLegId = 'rfleg'

示例#4

from hpp.corbaserver import Client

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [0, 6, -1, 1, 0.3, 4])

#  Setting a number of sample configurations used
nbSamples = 20000

ps = tp.ProblemSolver(fullBody)
r = tp.Viewer(ps, viewerClient=tp.r.client)

rootName = 'base_joint_xyz'

cType = "_3_DOF"
rLegId = 'rfleg'
rLeg = 'rf_haa_joint'
rfoot = 'rf_foot_joint'
offset = [0., -0.021, 0.]
normal = [0, 1, 0]

示例#5

文件： gen_hrp2_statically_balanced_positions_2d.py 项目： stonneau/hpp-rbprm-corba

import sample_com_vel as scv


packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody ()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-0.135,2, -1, 1, 0, 2.2])


ps = ProblemSolver( fullBody )
r = Viewer (ps)

n_samples = 10000

#~ AFTER loading obstacles
rLegId = '0rLeg'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,-0.105,0,]
rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, n_samples, "manipulability", 0.1)

示例#6

rleg = 'RLEG_JOINT0'
rfoot = "RLEG_JOINT5"
lleg = 'LLEG_JOINT0'
lfoot = "LLEG_JOINT5"
rarm = "RARM_JOINT0"
rhand = "RARM_JOINT5"
larm = "LARM_JOINT0"
lhand = "LARM_JOINT5"
rLegId = 'hrp2_rleg_rom'
lLegId = 'hrp2_lleg_rom'
rArmId = 'hrp2_rarm_rom'
lArmId = 'hrp2_larm_rom'

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-1, 2.5, 0.5, 3, 0.4, 0.8])
fullBody.setJointBounds("LLEG_JOINT3", [0.35, 2.61799])
fullBody.setJointBounds("RLEG_JOINT3", [0.35, 2.61799])

fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.basic.robot.setExtraConfigSpaceBounds(
    [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("vMax", omniORB.any.to_any(tp.vMax))

r = tp.Viewer(ps,
              viewerClient=tp.r.client,
              displayArrows=False,
              displayCoM=True)

示例#7

文件： truck_hrp2_interp.py 项目： airobert/hpp-rbprm-corba

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody ()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [0,2.2, -1, 1, 0.7, 2.5])


ps = tp.ProblemSolver( fullBody )
r = tp.Viewer (ps)

#~ AFTER loading obstacles
rLegId = '0rLeg'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,-0.105,0,]
rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "manipulability", 0.03)

lLegId = '1lLeg'
lLeg = 'LLEG_JOINT0'

示例#8

文件： downSlope_easy_hrp2_interp.py 项目： stonneau/hpp-rbprm-corba-1

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""
pId = tp.ps.numberPaths() -1
fullBody = FullBody ()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz",  [-2,5, 0, 2, 0.45, 1.8])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)

ps = tp.ProblemSolver( fullBody )
ps.client.problem.setParameter("aMax",tp.aMax)
ps.client.problem.setParameter("vMax",tp.vMax)
r = tp.Viewer (ps,viewerClient=tp.r.client)

#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,0,-0.105]
rLegNormal = [0,0,1]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "manipulability", 0.1)

示例#9

文件： generateROMs.py 项目： airobert/hpp-rbprm-corba

from hpp.gepetto import Viewer


packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody ()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-1,1, -4, -1, 1, 2.2])

from hpp.corbaserver.rbprm.problem_solver import ProblemSolver

nbSamples = 50000

ps = ProblemSolver( fullBody )

#~ AFTER loading obstacles
rLegId = '7rLeg'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,-0.105,0,]
rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, 0.01)

示例#10

文件： stairs10_hrp2_interStatic.py 项目： nim65s/hpp-rbprm-corba

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
#urdfSuffix = "_reduced_safe20"
urdfSuffix = "_reduced"
srdfSuffix = "_disable_leg_autocol"
pId = tp.ps.numberPaths() - 1
fullBody = FullBody()
tPlanning = 0.

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [0, 2, 0.6, 1.1, 0.35, 1.5])
fullBody.setJointBounds("LLEG_JOINT3", [0.3, 2.61799])
fullBody.setJointBounds("RLEG_JOINT3", [0.3, 2.61799])

fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.basic.robot.setExtraConfigSpaceBounds(
    [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("vMax", omniORB.any.to_any(tp.vMax))

r = tp.Viewer(ps,
              viewerClient=tp.r.client,
              displayArrows=False,
              displayCoM=True)

示例#11

文件： spiderman_compute_DB.py 项目： nim65s/hpp-rbprm-corba

from viewer_library import *

packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "spiderman"
urdfSuffix = ""
srdfSuffix = ""

fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [0, 0, 0, 0, 0, 0])
"""
from hpp.gepetto import Viewer
psf = ProblemSolver( fullBody ); rr = Viewer (psf)
q_0 = fullBody.getCurrentConfig(); rr(q_0); fullBody.isConfigValid(q_0)
"""

q_flexion = [
    0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0, 0.2, 0, -0.0, -0.3, 0, 0.2, 0.9, 0,
    -0.6, 0, 0, 0, -0.2, 0.9, 0, -0.6, 0, 0, 0, -1.1, -1.8, -1, 2.2, -0.9, 0,
    0.0, 1.1, -1.8, 1, 2.2, -0.9, 0, 0.0
]
q_contact = [
    0, 0, 0, 1, 0, 0, 0, 0, 0.0, 0, -0.0, 0.0, 0.0, 2.2, 0.1, 0.3, -1.5, 0.8,
    0, 0, -2.2, 0.1, -0.3, -1.5, -0.8, 0, 0, 0.3, -1.1, 0.2, 2, -0.8, 0, 0.0,
    -0.3, -1.1, -0.2, 2, -0.8, 0, 0.0

示例#12

from hpp.gepetto import Viewer

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-1, 1, -4, -1, 1, 2.2])

from hpp.corbaserver.rbprm.problem_solver import ProblemSolver

nbSamples = 50000

ps = ProblemSolver(fullBody)

#~ AFTER loading obstacles
rLegId = '7rLeg'
rLeg = 'RLEG_JOINT0'
rLegOffset = [
    0,
    -0.105,
    0,
]

示例#13

文件： ground_crouch_hyq_interp.py 项目： stonneau/hpp-rbprm-corba

import ground_crouch_hyq_path as tp

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

fullBody = FullBody ()
 
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-6,5, -4, 4, 0.6, 2])

from hpp.corbaserver.rbprm.problem_solver import ProblemSolver

nbSamples = 20000

ps = tp.ProblemSolver( fullBody )
r = tp.Viewer (ps)

rootName = 'base_joint_xyz'

#  Creating limbs
# cType is "_3_DOF": positional constraint, but no rotation (contacts are punctual)
cType = "_3_DOF"
# string identifying the limb
rLegId = 'rfleg'

示例#14

文件： anymal_data.py 项目： stonneau/hpp-rbprm-robot-data

from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.corbaserver.rbprm.tools.plot_analytics  import plotOctreeValues

packageName = "anymal_bedi_description"
meshPackageName = "anymal_bedi_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "anymal_bedi"
urdfSuffix = ""
srdfSuffix = ""

fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("root_joint", [0,0,0,0,0,0])

nbSamples = 50000 #used to be 20000 

cType = "_3_DOF"
rLegId = 'rfleg'
rLeg = 'RF_HAA'
rfoot = 'RF_MOUNT_TO_FOOT'
offset = [0.,-0.034625,0.] #originally [0.,-0.031,0.]
normal = [0,1,0] #hyq needs [0,1,0], also for anymal
legx = 0.03; legy = 0.03

def addLimbDb(limbId, heuristicName, loadValues = True, disableEffectorCollision = False):
	fullBody.addLimbDatabase(str(db_dir+limbId+'.db'), limbId, heuristicName,loadValues, disableEffectorCollision)


#fullBody.addLimb(rLegId,rLeg,rfoot,offset,normal, legx, legy, nbSamples, "forward", 0.1, cType)

示例#15

import omniORB.any

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""
pId = tp.ps.numberPaths() - 1
fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-5.5, 5.5, -2.5, 2.5, 0.3, 0.65])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)

ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("vMax", omniORB.any.to_any(tp.vMax))

r = tp.Viewer(ps,
              viewerClient=tp.r.client,
              displayArrows=True,
              displayCoM=True)

q_init = [
    0, 0, 0.648702, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.261799388,
    0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, 0.261799388, -0.174532925,
    0.0, -0.523598776, 0.0, 0.0, 0.17, 0.0, 0.0, -0.453785606, 0.872664626,

示例#16

文件： anymal_data.py 项目： stonneau/hpp-rbprm-robot-data

from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.corbaserver.rbprm.tools.plot_analytics import plotOctreeValues

packageName = "anymal_bedi_description"
meshPackageName = "anymal_bedi_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "anymal_bedi"
urdfSuffix = ""
srdfSuffix = ""

fullBody = FullBody()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("root_joint", [0, 0, 0, 0, 0, 0])

nbSamples = 50000  #used to be 20000

cType = "_3_DOF"
rLegId = 'rfleg'
rLeg = 'RF_HAA'
rfoot = 'RF_MOUNT_TO_FOOT'
offset = [0., -0.034625, 0.]  #originally [0.,-0.031,0.]
normal = [0, 1, 0]  #hyq needs [0,1,0], also for anymal
legx = 0.03
legy = 0.03


def addLimbDb(limbId,
              heuristicName,

示例#17

from constraint_to_dae import *

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [0, 1.55, -0.25, -0.15, 0.2, 2])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.basic.robot.setExtraConfigSpaceBounds(
    [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
ps = tp.ProblemSolver(fullBody)

ps.client.problem.setParameter("aMax", omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("aMaxZ", omniORB.any.to_any(1.))
ps.client.problem.setParameter("vMax", omniORB.any.to_any(tp.vMax))
ps.client.problem.setParameter("friction", tp.mu)

r = tp.Viewer(ps,
              viewerClient=tp.r.client,
              displayArrows=True,
              displayCoM=True)

示例#18

import numpy as np

packageName = "talos_description"
meshPackageName = "talos_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "talos"
urdfSuffix = "_full_v2"
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-20, 20, -20, 20, -20, 20])

rootName = "base_joint_xyz"
nbSamples = 100000

q_0 = [
    0,
    0,
    0,
    1,
    0,
    0,
    0,  # root_joint
    0.0,
    0.0,
    -0.411354,

示例#19

meshPackageName = 'hpp-rbprm-corba'
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "spiderman"
urdfSuffix = ""
srdfSuffix = ""
#~ V0list = tp.V0list
#~ Vimplist = tp.Vimplist
base_joint_xyz_limits = tp.base_joint_xyz_limits

fullBody = FullBody()
robot = fullBody.client.basic.robot
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", base_joint_xyz_limits)

#psf = ProblemSolver(fullBody); rr = Viewer (psf); gui = rr.client.gui
ps = path_planner.ProblemSolver(fullBody)
r = path_planner.Viewer(ps, viewerClient=path_planner.r.client)
rr = r
#~ psf = tp.ProblemSolver( fullBody ); rr = tp.Viewer (psf); gui = rr.client.gui
pp = PathPlayer(fullBody.client.basic, rr)
pp.speed = 0.6
q_0 = fullBody.getCurrentConfig()
rr(q_0)

rLegId = 'RFoot'
lLegId = 'LFoot'
rarmId = 'RHand'
larmId = 'LHand'

示例#20

文件： darpa_hyq_interp.py 项目： stonneau/hpp-rbprm-corba

db_dir = ins_dir+"/install/share/hyq-rbprm/database/hyq_"


packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody () 
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4])

#  Setting a number of sample configurations used
nbSamples = 20000

ps = tp.ProblemSolver(fullBody)
r = tp.Viewer (ps)

rootName = 'base_joint_xyz'

#  Creating limbs
# cType is "_3_DOF": positional constraint, but no rotation (contacts are punctual)
cType = "_3_DOF"
# string identifying the limb
rLegId = 'rfleg'
# First joint of the limb, as in urdf file

示例#21

文件： admissibleComPositionsFromEffectorHyQ.py 项目： stonneau/hpp-rbprm-robot-data

from hpp.gepetto import Viewer
import quaternion as quat

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = "_6D"
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody () 
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-20,20, -20, 20, -20, 20])

#  Setting a number of sample configurations used
nbSamples = 100000

rootName = 'base_joint_xyz'

#  Creating limbs
# cType is "_3_DOF": positional constraint, but no rotation (contacts are punctual)
cType = "_6_DOF"
# string identifying the limb
rLegId = 'rfleg'
# First joint of the limb, as in urdf file
rLeg = 'rf_haa_joint'
# Last joint of the limb, as in urdf file
rfoot = 'rf_foot_Z'

示例#22

import omniORB.any

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""
pId = tp.ps.numberPaths() - 1
fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-3, 4.5, -2, 2.5, 0.55, 0.6])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)

ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("vMax", omniORB.any.to_any(tp.vMax))

r = tp.Viewer(ps,
              viewerClient=tp.r.client,
              displayArrows=True,
              displayCoM=True)

q_init = [
    0, 0, 0.648702, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.261799388,
    0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, 0.261799388, -0.174532925,
    0.0, -0.523598776, 0.0, 0.0, 0.17, 0.0, 0.0, -0.453785606, 0.872664626,

示例#23

文件： wall_hrp2_interp.py 项目： stonneau/hpp-rbprm-corba-1

import time

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [0, 3, -2, 0, 0.3, 1])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)

ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", tp.aMax)
ps.client.problem.setParameter("vMax", tp.vMax)
r = tp.Viewer(ps, viewerClient=tp.r.client)

#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0, 0, -0.105]
rLegNormal = [0, 0, 1]
rLegx = 0.09
rLegy = 0.05
fullBody.addLimb(rLegId, rLeg, '', rLegOffset, rLegNormal, rLegx, rLegy, 20000,

示例#24

meshPackageName = 'hpp-rbprm-corba'
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "spiderman"
urdfSuffix = ""
srdfSuffix = ""
V0list = tp.V0list
Vimplist = tp.Vimplist
base_joint_xyz_limits = tp.base_joint_xyz_limits

fullBody = FullBody()
robot = fullBody.client.basic.robot
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", base_joint_xyz_limits)

#psf = ProblemSolver(fullBody); rr = Viewer (psf); gui = rr.client.gui
r = tp.r
ps = tp.ps
psf = tp.ProblemSolver(fullBody)
rr = tp.Viewer(psf)
gui = rr.client.gui
pp = PathPlayer(fullBody.client.basic, rr)
pp.speed = 0.6
q_0 = fullBody.getCurrentConfig()
rr(q_0)

flexion = [
    0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0, 0.2, 0, -0.0, -0.3, 0, 0.2, 0.9, 0,
    -0.6, 0, 0, 0, -0.2, 0.9, 0, -0.6, 0, 0, 0, -1.1, -1.8, -1, 2.2, -0.9, 0,

示例#25

from hpp.corbaserver.rbprm.rbprmstate import State, StateHelper

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-0.7, 0.7, -0.7, 0.7, 0.6, 0.7])
fullBody.setJointBounds("CHEST_JOINT0", [0., 0.])
fullBody.setJointBounds("CHEST_JOINT1", [0., 0.])
fullBody.setJointBounds("HEAD_JOINT0", [0., 0.])
fullBody.setJointBounds("HEAD_JOINT1", [0., 0.])
fullBody.setJointBounds("LARM_JOINT0", [0.261799388, 0.261799388])
fullBody.setJointBounds("LARM_JOINT1", [0.174532925, 0.174532925])
fullBody.setJointBounds("LARM_JOINT2", [0., 0.])
fullBody.setJointBounds("LARM_JOINT3", [-0.523598776, -0.523598776])
fullBody.setJointBounds("LARM_JOINT4", [0., 0.])
fullBody.setJointBounds("LARM_JOINT5", [0., 0.])
fullBody.setJointBounds("LARM_JOINT6", [0.17, 0.17])
fullBody.setJointBounds("RARM_JOINT0", [0.261799388, 0.261799388])
fullBody.setJointBounds("RARM_JOINT1", [-0.174532925, -0.174532925])
fullBody.setJointBounds("RARM_JOINT2", [0., 0.])
fullBody.setJointBounds("RARM_JOINT3", [-0.523598776, -0.523598776])

示例#26

文件： downSlope_hrp2_interp.py 项目： nim65s/hpp-rbprm-corba

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""
pId = tp.ps.numberPaths() -1
fullBody = FullBody ()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz",  [-2,4, 0.5, 1.5, 0.3, 1.8])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)

ps = tp.ProblemSolver( fullBody )
ps.client.problem.setParameter("aMax",omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("vMax",omniORB.any.to_any(tp.vMax))
r = tp.Viewer (ps,viewerClient=tp.r.client)

#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,0,-0.105]
rLegNormal = [0,0,1]
rLegx = 0.09; rLegy = 0.05
#fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "forward", 0.1)
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 50000, "dynamic", 0.1)

示例#27

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.setJointBounds("base_joint_xyz", [-6, 6, -2.5, 2.5, 0.0, 1.])

#  Setting a number of sample configurations used
nbSamples = 20000
dynamic = True

ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("vMax", omniORB.any.to_any(tp.vMax))
r = tp.Viewer(ps, viewerClient=tp.r.client)

rootName = 'base_joint_xyz'


def addLimbDb(limbId,
              heuristicName,

示例#28

from hpp.corbaserver import Client

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-4, 6, -1, 1, 0.3, 2.5])

#  Setting a number of sample configurations used
nbSamples = 20000

ps = tp.ProblemSolver(fullBody)
r = tp.Viewer(ps, viewerClient=tp.r.client)

rootName = 'base_joint_xyz'

cType = "_3_DOF"
rLegId = 'rfleg'
rLeg = 'rf_haa_joint'
rfoot = 'rf_foot_joint'
offset = [0., -0.021, 0.]
normal = [0, 1, 0]

示例#29

import time

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-2, 5, -1, 1, 0, 2.2])

ps = tp.ProblemSolver(fullBody)
r = tp.Viewer(ps, viewerClient=tp.r.client)

rLegId = 'hrp2_rleg_rom'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0, 0, -0.105]
rLegNormal = [0, 0, 1]
rLegx = 0.09
rLegy = 0.05
fullBody.addLimb(rLegId, rLeg, '', rLegOffset, rLegNormal, rLegx, rLegy, 10000,
                 "manipulability", 0.1)

lLegId = 'hrp2_lleg_rom'
lLeg = 'LLEG_JOINT0'

示例#30

文件： poralis_hrp2_interp_3.py 项目： teguhSL/hpp-rbprm-corba

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody ()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-1,2, -2, 1, 0.5, 2.5])

ps = tp.ProblemSolver( fullBody )
r = tp.Viewer (ps)

#~ AFTER loading obstacles
#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,-0.105,0,]
rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "static", 0.03)

lLegId = 'hrp2_lleg_rom'
lLeg = 'LLEG_JOINT0'

示例#31

import omniORB.any

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""
pId = tp.ps.numberPaths() - 1
fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-1.2, 1.5, -0.05, 0.05, 0.55, 0.85])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.basic.robot.setExtraConfigSpaceBounds(
    [-0, 0, -0, 0, -0, 0, 0, 0, 0, 0, 0, 0])
ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", omniORB.any.to_any(tp.aMax))
ps.client.problem.setParameter("vMax", omniORB.any.to_any(tp.vMax))

r = tp.Viewer(ps,
              viewerClient=tp.r.client,
              displayArrows=True,
              displayCoM=True)

q_init = [
    0, 0, 0.648702, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.261799388,
    0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, 0.261799388, -0.174532925,

示例#32

文件： sideWall_hyq_interp.py 项目： stonneau/hpp-rbprm-corba-1

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.setJointBounds("base_joint_xyz", [0.8, 5.6, -0.5, 0.5, 0.4, 1.2])

#  Setting a number of sample configurations used
nbSamples = 20000
dynamic = True

ps = tp.ProblemSolver(fullBody)
r = tp.Viewer(ps, viewerClient=tp.r.client)

rootName = 'base_joint_xyz'


def addLimbDb(limbId,
              heuristicName,
              loadValues=True,
              disableEffectorCollision=False):

示例#33

import talos.airbus_no_plane_bigStairs_path as tp
import time
from planning.robot_config.talos import *
from display_tools import *

tPlanning = tp.tPlanning

##
#  Information to retrieve urdf and srdf files.

pId = tp.ps.numberPaths() - 1
fullBody = FullBody()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-13, 10, -3.85, -3.75, -1.75, 0.5])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.basic.robot.setExtraConfigSpaceBounds(
    [-0, 0, -0, 0, -0, 0, 0, 0, 0, 0, 0, 0])
ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", tp.aMax)
ps.client.problem.setParameter("vMax", tp.vMax)
r = tp.Viewer(ps, viewerClient=tp.r.client, displayCoM=True)

q_ref = [
    0.0,
    0.0,
    1.0232773,
    1,
    0.0,
    0.0,

示例#34

tPlanning = tp.tPlanning


packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""
pId = tp.ps.numberPaths() -1
fullBody = FullBody ()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-1,2, -0.5, 0.5, 0.5, 0.8])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.client.basic.robot.setExtraConfigSpaceBounds([-1,1,-1,1,-0.5,0.5,0,0,0,0,0,0])
ps = tp.ProblemSolver( fullBody )
ps.client.problem.setParameter("aMax",tp.aMax)
ps.client.problem.setParameter("vMax",tp.vMax)

r = tp.Viewer (ps,viewerClient=tp.r.client,displayArrows = True, displayCoM = True)


q_init =[0., 0., 0.648702, 1.0, 0.0 , 0.0, 0.0,0.0, 0.0, 0.0, 0.0,0.261799388,  0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0,0,0,0,0,0]; r (q_init)
q_ref = q_init[::]
fullBody.setCurrentConfig (q_init)
qfar=q_ref[::]
qfar[2] = -5

示例#35

文件： downSlope_hyq_interpKino.py 项目： teguhSL/hpp-rbprm-corba

pathId = tp.ps.numberPaths()-1

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody () 
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.setJointBounds ("base_joint_xyz", [-1.25,5, 0, 2, 0.3, 1.8])

#  Setting a number of sample configurations used
nbSamples = 20000
dynamic=True

ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax",tp.aMax)
ps.client.problem.setParameter("vMax",tp.vMax)
r = tp.Viewer (ps,viewerClient=tp.r.client)

rootName = 'base_joint_xyz'


def addLimbDb(limbId, heuristicName, loadValues = True, disableEffectorCollision = False):
	fullBody.addLimbDatabase(str(db_dir+limbId+'.db'), limbId, heuristicName,loadValues, disableEffectorCollision)

示例#36

from hpp.corbaserver import Client

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("root_joint", [-2, 5, -1, 1, 0.3, 4])

#  Setting a number of sample configurations used
nbSamples = 10000

ps = ProblemSolver(fullBody)
r = Viewer(ps)

q_init = hyq_ref[:]

r(q_init)

from hppy_ik import *

from numpy import array
from numpy.linalg import norm

示例#37

文件： polaris_hrp2_interp.py 项目： stonneau/hpp-rbprm-corba

packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""

fullBody = FullBody ()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-1,2, -2, 1, 0.5, 2.5])

ps = tp.ProblemSolver( fullBody )
r = tp.Viewer (ps)

#~ AFTER loading obstacles
#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,-0.105,0,]
rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "manipulability", 0.03,  "_6_DOF")

lLegId = 'hrp2_lleg_rom'
lLeg = 'LLEG_JOINT0'

示例#38

packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"

#  Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""

#  This time we load the full body model of HyQ
fullBody = FullBody()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
                           packageName, urdfSuffix, srdfSuffix)
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
fullBody.setJointBounds("base_joint_xyz", [-2.5, 2.5, -6, 6, 0.6, 0.65])

#  Setting a number of sample configurations used
nbSamples = 20000
dynamic = True

ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", tp.aMax)
ps.client.problem.setParameter("vMax", tp.vMax)
r = tp.Viewer(ps, viewerClient=tp.r.client)

rootName = 'base_joint_xyz'


def addLimbDb(limbId,
              heuristicName,

示例#39

文件： flatGround_hrp2_interpSTATIC.py 项目： teguhSL/hpp-rbprm-corba

tPlanning = tp.tPlanning


packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
#  Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced_kinematics"
srdfSuffix = ""
pId = tp.ps.numberPaths() -1
fullBody = FullBody ()

fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-5,5, -1.5, 1.5, 0.5, 0.8])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)

ps = tp.ProblemSolver( fullBody )
ps.client.problem.setParameter("aMax",tp.aMax)
ps.client.problem.setParameter("vMax",tp.vMax)
r = tp.Viewer (ps,viewerClient=tp.r.client,displayArrows = True, displayCoM = True)


q_init =[0.1, -0.82, 0.648702, 1.0, 0.0 , 0.0, 0.0,0.0, 0.0, 0.0, 0.0,0.261799388,  0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0,0,0,0,0,0]; r (q_init)
q_ref = q_init[::]
fullBody.setCurrentConfig (q_init)


#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'