This project implement the framework for mulicontact locomotion planning proposed in the loco-3d project. This framework decompose the global locomotion problem in several subproblems solved sequentially :

• The contact planning
• Centroidal trajectory optimization
• Wholebody motion generation

It contains wrapper for the different blocks of the framework and script to automatically formulate problems, retrieve and store solutions and connect every blocks together. Along with a lot of helpers for visualization or exports.

The goal of this framework is to be modular, allowing the user to select a method for each of the subproblem or add a wrapper for any new method from the state-of-the-art solving one of this subproblem and connect it seamlessly to the rest of the framework.

Installation procedure :

This package rely on a lot of optionnal packages, see the section 'Available methods' for more information on the installation of this optional packages.

Install depencies from binary repositories :

1. Add robotpkg to your apt configuration: http://robotpkg.openrobots.org/debian.html
2. sudo apt update && sudo apt install robotpkg-py27-pinocchio robotpkg-py27-multicontact-api

Install depencies from sources :

Follow the instruction from https://github.com/loco-3d/multicontact-api

Installation procedure :

Once the depencies are correctly installed, clone the repository :

git clone https://github.com/loco-3d/multicontact-locomotion-planning.git

And add the directory multicontact-locomotion-planning/script to your PYTHONPATH.

Usage

TODO

Available methods :

Currently supported method for each subproblem, you need to install the packages linked separetely if you want to use this methods.

Contact generation :

• RBPRM (https://github.com/humanoid-path-planner/hpp-rbprm-corba#installation-from-binary-package-repository)

Centroidal trajectory optimization :

• timeoptimization (https://git-amd.tuebingen.mpg.de/bponton/timeoptimization and it's wrapper https://github.com/ggory15/timeopt )
• CROC (https://hal.archives-ouvertes.fr/hal-01726155), included in RBPRM
• 2-PAC (quasi-static) (https://hal.archives-ouvertes.fr/hal-01609055) included in RBPRM

Wholebody motion generation :

• TSID (https://github.com/stack-of-tasks/tsid)

Effector trajectories :

• Basic predefined splines
• Limb-RRT (geometric path found by path-planning). Require RBPRM
• Optimized limb-rrt (Dynamically consistent spline based on the results of limb-rrt)

Visualization :

• gepetto-viewer (https://github.com/Gepetto/gepetto-viewer-corba#setup-from-robotpkg-apt-binary-package-repository)

Export :

• Blender (with plugin https://github.com/Gepetto/gepetto-viewer-corba/tree/master/blender)
• Gazebo (basic joint-trajectory export)
• OpenHRP (only for HRP-2 robot)
• npz numpy archive (containing all the datas of the wholebody motion)