for name, value in lockedDofs.iteritems():
ps.lockDof(name, value, 0, 0)
lockedDofs = robot.rightHandClosed()
for name, value in lockedDofs.iteritems():
ps.lockDof(name, value, 0, 0)
q1 = [
0.0, 0.0, 0.705, 1.0, 0., 0., 0.0, 0.0, 0.0, 0.0, 0.0, -0.4, 0, -1.2, -1.0,
0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532,
0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532,
0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665,
-0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0
]
res = ps.applyConstraints(q1)
if res[0]:
q1proj = res[1]
else:
raise RuntimeError("Failed to apply constraint.")
q2 = [
0.0, 0.0, 0.705, 1, 0, 0, 0, 0.0, 0.0, 0.0, 0.0, 1.0, 0, -1.4, -1.0, 0.0,
0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532,
0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532,
0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665,
-0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0
]
res = ps.applyConstraints(q2)
if res[0]:
ps.lockOneDofJoint("NeckYaw", robot.getJointDofValue("NeckYaw"))
ps.lockOneDofJoint("NeckPitch", robot.getJointDofValue("NeckPitch"))
ps.lockOneDofJoint("HeadPitch", robot.getJointDofValue("HeadPitch"))
ps.lockOneDofJoint("HeadRoll", robot.getJointDofValue("HeadRoll"))
ps.lockOneDofJoint("LToePitch", robot.getJointDofValue("LToePitch"))
ps.lockOneDofJoint("RToePitch", robot.getJointDofValue("RToePitch"))
ps.lockOneDofJoint("LEyeYaw", robot.getJointDofValue("LEyeYaw"))
ps.lockOneDofJoint("LEyePitch", robot.getJointDofValue("LEyePitch"))
ps.lockOneDofJoint("REyeYaw", robot.getJointDofValue("REyeYaw"))
ps.lockOneDofJoint("REyePitch", robot.getJointDofValue("REyePitch"))
q_init = robot.getCurrentConfig()
#q_start = robot.getCurrentConfig()
# Get one config wrt constraints
res, q, error, time = ps.applyConstraints (q_init)
full_time = time
while res == False:
full_time += time
res, q, error, time = ps.applyConstraints (q)
#robot.shootRandomConfig()
#robot.setCurrentConfig(q)
#q = robot.getRightHandOpenConfig()
full_time
r(q)
###################################################
# Test de timing pour trouver une solution IK
"balance/orientation-left-foot",
"balance/position-left-foot"])
# lock hands in closed position
lockedjoints = robot.leftHandClosed ()
for name, value in lockedjoints.iteritems ():
ps.lockJoint (name, value)
lockedjoints = robot.rightHandClosed ()
for name, value in lockedjoints.iteritems ():
ps.lockJoint (name, value)
q1 = [0.0, 0.0, 0.705, 0., 0., 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -0.4, 0, -1.2, -1.0, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0]
res = ps.applyConstraints (q1)
if res [0]:
q1proj = res [1]
else:
raise RuntimeError ("Failed to apply constraint.")
q2 = [0.0, 0.0, 0.705, 0, 0, 0, 1, 0.0, 0.0, 0.0, 0.0, 1.0, 0, -1.4, -1.0, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0]
res = ps.applyConstraints (q2)
if res [0]:
q2proj = res [1]
else:
raise RuntimeError ("Failed to apply constraint.")
ps.selectPathValidation ("Progressive", 0.025)
q_goal = robot.halfSitting [::]
for j, v in dict_goal.iteritems ():
i = robot.rankInConfiguration [j]
q_goal [i] = v
for j, v in robot.openHand (None, 0.2, 'left').iteritems ():
ps.lockJoint (j, [v,])
for j, v in robot.openHand (None, 0.2, 'right').iteritems ():
ps.lockJoint (j, [v,])
ps.lockJoint ('base_joint_xy', [0,0])
ps.lockJoint ('base_joint_rz', [1,0])
res = ps.applyConstraints (q_init)
if res [0]:
q_init = res [1]
else:
raise RuntimeError ('Failed to apply constraints on init config.')
res = ps.applyConstraints (q_goal)
if res [0]:
q_goal = res [1]
else:
raise RuntimeError ('Failed to apply constraints on goal config.')
robot.setCurrentConfig (q_init)
r = vf.createViewer (collisionURDF = True)
r (q_init)
