Humanoid Path Planner - RBPRM-CORBA module

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 from binary package repository

Add robotpkg to your apt configuration: http://robotpkg.openrobots.org/debian.html
sudo apt update && sudo apt install robotpkg-hpp-rbprm-corba
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)

Installation From source on ubuntu-16.04 64 bit with ros-kinetic

Follow this instructions : http://humanoid-path-planner.github.io/hpp-doc/download.html (select 'Devellopement" in the list)
Once this installation is complete, run make rbprm

Optional: installing viewer and python bindings for dependencies

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:

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

Install the pinocchio bindings

sudo apt install -qqy robotpkg-py27-pinocchio

Install the dae extension for osg

sudo apt install -qqy robotpkg-osg-dae

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, 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.