leftpos = robot.getJointPosition(robot.leftAnkle) rightpos = robot.getJointPosition(robot.rightAnkle) leftfoot = [ [ # "leftfoot/comz" , "leftfoot/com", "leftfoot/z", "leftfoot/rxry" ], [ "leftfoot/xy", ] ] # "leftfoot/rxryrz"]] ps.createRelativeComConstraint(leftfoot[0][0], "", robot.leftAnkle, (0, 0, 0.7028490491159864), (True, True, True)) ps.createPositionConstraint(leftfoot[0][1], robot.leftAnkle, "", (0, 0, 0), leftpos[0:3], (False, False, True)) ps.createPositionConstraint(leftfoot[1][0], robot.leftAnkle, "", (0, 0, 0), leftpos[0:3], (True, True, False)) ps.client.basic.problem.setConstantRightHandSide(leftfoot[1][0], False) ps.createOrientationConstraint(leftfoot[0][2], robot.leftAnkle, "", (1, 0, 0, 0), (True, True, True)) # ps.createOrientationConstraint (leftfoot[1][2], robot.leftAnkle, "", (1,0,0,0), (False, False, True)) # ps.client.basic.problem.setConstantRightHandSide (leftfoot[1][2], True) rightfoot = [ [ # "rightfoot/comz" , "rightfoot/com", "rightfoot/z",
ps.createLockedJoint("gripper_l_lock_isj", "talos/gripper_left_inner_single_joint", [0]) ps.createLockedJoint("gripper_l_lock_f3j", "talos/gripper_left_fingertip_3_joint", [0]) ps.createLockedJoint("gripper_l_lock_j", "talos/gripper_left_joint", [0]) ps.createLockedJoint("gripper_l_lock_msj", "talos/gripper_left_motor_single_joint", [0]) # lock drawer closed ps.createLockedJoint("drawer_lock", "desk/upper_case_bottom_upper_drawer_bottom_joint", [0]) # static stability constraint ps.addPartialCom("Talos_CoM", ["talos/root_joint"]) ps.createStaticStabilityConstraints("talos_static_stability", q, "Talos_CoM", ProblemSolver.FIXED_ON_THE_GROUND) tpc = ps.getPartialCom("Talos_CoM") rla = robot.getJointPosition(robot.leftAnkle) com_wf = np.array(tpc) tf_la = Transform(rla) com_la = tf_la.inverse().transform(com_wf) ps.createRelativeComConstraint("talos_com_constraint_to_la", "Talos_CoM", robot.leftAnkle, com_la.tolist(), (True, True, False)) ps.setMaxIterProjection(40) # Set the maximum number of iterations of the projection algorithm. Must be called before the graph creation. # constraint graph rules = [ Rule(["talos/left_gripper", "talos/right_gripper"], ["^$", "^$"], True), Rule(["talos/left_gripper", "talos/right_gripper"], ["^$", "desk/touchpoint_right_top"], True), Rule(["talos/left_gripper", "talos/right_gripper"], ["^$", "desk/touchpoint_right_front"], True), Rule(["talos/left_gripper", "talos/right_gripper"], ["desk/touchpoint_left_front", "^$"], True), Rule(["talos/left_gripper", "talos/right_gripper"], ["desk/touchpoint_left_drawer", "^$"], True), Rule(["talos/left_gripper", "talos/right_gripper"], ["^$", "desk/upper_drawer_spherical_handle"], True) ] graph = ConstraintGraph(robot, "graph") factory = ConstraintGraphFactory(graph)
] q_init = robot.getCurrentConfig() ps.addPartialCom ("talos", ["talos/root_joint"]) ps.addPartialCom ("talos_box", ["talos/root_joint", "box/root_joint"]) ps.createStaticStabilityConstraints ("balance", half_sitting, "talos", ProblemSolver.FIXED_ON_THE_GROUND) foot_placement = [ "balance/pose-left-foot", "balance/pose-right-foot" ] foot_placement_complement = [ ] robot.setCurrentConfig(half_sitting) com_wf = np.array(ps.getPartialCom("talos")) tf_la = Transform (robot.getJointPosition(robot.leftAnkle)) com_la = tf_la.inverse().transform(com_wf) ps.createRelativeComConstraint ("com_talos_box", "talos_box", robot.leftAnkle, com_la.tolist(), (True, True, True)) ps.createRelativeComConstraint ("com_talos" , "talos" , robot.leftAnkle, com_la.tolist(), (True, True, True)) ps.createPositionConstraint ("gaze", "talos/rgbd_optical_joint", "box/root_joint", (0,0,0), (0,0,0), (True, True, False)) left_gripper_lock = [] right_gripper_lock = [] other_lock = ["talos/torso_1_joint"] for n in robot.jointNames: s = robot.getJointConfigSize(n) r = robot.rankInConfiguration[n] if n.startswith ("talos/gripper_right"): ps.createLockedJoint(n, n, half_sitting[r:r+s]) right_gripper_lock.append(n) elif n.startswith ("talos/gripper_left"): ps.createLockedJoint(n, n, half_sitting[r:r+s])
# 3}}} # Generate constraints {{{3 graph = ConstraintGraph (robot, 'graph') robot.setCurrentConfig (q_init) leftpos = robot.getJointPosition (robot.leftAnkle) rightpos = robot.getJointPosition (robot.rightAnkle) leftfoot = [ [ # "leftfoot/comz" , "leftfoot/com", "leftfoot/z" , "leftfoot/rxry"], ["leftfoot/xy", ]] # "leftfoot/rxryrz"]] ps.createRelativeComConstraint (leftfoot[0][0], "", robot.leftAnkle, (0,0,0.7028490491159864), (True,True,True)) ps.createPositionConstraint (leftfoot[0][1], robot.leftAnkle, "", (0,0,0), leftpos[0:3], (False, False, True)) ps.createPositionConstraint (leftfoot[1][0], robot.leftAnkle, "", (0,0,0), leftpos[0:3], (True, True, False)) ps.client.basic.problem.setConstantRightHandSide (leftfoot[1][0], False) ps.createOrientationConstraint (leftfoot[0][2], robot.leftAnkle, "", (1,0,0,0), (True, True, True)) # ps.createOrientationConstraint (leftfoot[1][2], robot.leftAnkle, "", (1,0,0,0), (False, False, True)) # ps.client.basic.problem.setConstantRightHandSide (leftfoot[1][2], True) rightfoot = [ [ # "rightfoot/comz" , "rightfoot/com", "rightfoot/z" , "rightfoot/rxry"], ["rightfoot/xy", ]] # "rightfoot/rxryrz"]] ps.createRelativeComConstraint (rightfoot[0][0], "", robot.rightAnkle, (0,0,0.7028490491159864), (True,True,True)) ps.createPositionConstraint (rightfoot[0][1], robot.rightAnkle, "", (0,0,0), rightpos[0:3], (False, False, True))