Python ProblemSolver.ProblemSolver Beispiele

Beispiel #1

rbprmBuilder.setJointBounds("base_joint_xyz", [0, 2.5, -1, 1, 0, 2.2])
rbprmBuilder.setFilter(['hrp2_lleg_rom', 'hrp2_rleg_rom'])
#~ rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support', 'Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0., 0, -1, 1, -1, 1])

#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver

ps = ProblemSolver(rbprmBuilder)

r = Viewer(ps)

q_init = rbprmBuilder.getCurrentConfig()
q_init[0:3] = [0, -0.82, 0.648702]
rbprmBuilder.setCurrentConfig(q_init)
r(q_init)
q_init[0:3] = [0.1, -0.82, 0.648702]
rbprmBuilder.setCurrentConfig(q_init)
r(q_init)
#~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
#~ q_init [3:7] = [ 0.98877108,  0.        ,  0.14943813,  0.        ]

q_goal = q_init[::]
q_goal[3:7] = [0.98877108, 0., 0.14943813, 0.]

Beispiel #2

Datei: gen_hrp2_statically_balanced_positions_2d.py Projekt: rohanpsingh/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", [-0.135, 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

Beispiel #3

Datei: computecol_free.py Projekt: stonneau/hpp-rbprm-corba-1

urdfNameRoms = [
    'hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""

scene = sys.argv[len(sys.argv) - 1]

tested = Builder()
tested.loadModel(urdfNameTested, urdfNameRoms, rootJointType, meshPackageName,
                 packageName, urdfSuffix, srdfSuffix)

#~ tested.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ tested.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])

ps = ProblemSolver(tested)
r = Viewer(ps)
r.loadObstacleModel(packageName, scene, "planning")
tested.setJointBounds("base_joint_xyz", [-10., 10, -10, 10, 0, 20])
ps.client.problem.selectConFigurationShooter("RbprmShooter")

q_init = tested.getCurrentConfig()
q_init[0:3] = [-10, -0.82, 1.25]
tested.setCurrentConfig(q_init)
r(q_init)
q_goal = q_init[::]
q_goal[0:3] = [-9, -0.65, 1.25]
r(q_goal)

ps.setInitialConfig(q_init)
ps.addGoalConfig(q_goal)