def __init__(self,planner,limb):
CSpace.__init__(self)
self.planner = planner
self.limb = limb
#TODO: what Cartesian bounding box should the planner sample from?
self.bound = [(0,1),(0,1)]
#TODO: what collision tolerance to use?
self.eps = 1e-2
def __init__(self, collider, robot):
CSpace.__init__(self)
qmin, qmax = robot.getJointLimits()
self.bound = []
for i in range(len(qmin)):
self.bound.append((qmin[i], qmax[i]))
self.eps = 1e-3
self.collider = collider
self.robot = robot
def __init__(self,planner,limb):
CSpace.__init__(self)
self.planner = planner
self.limb = limb
# set up a search space based on the robot 1 m x 2 m x 2 m
(R, t) = self.planner.robot.getLink(0).getParentTransform()
self.bound = self.bounds = [(t[0]-1, t[0]+2), (t[1]-2, t[2]+2), (0, 3)]
self.eps = 1e-2
self.ignore = None
def __init__(self):
CSpace.__init__(self)
#set bounds
self.bound = [(0.0,1.0),(0.0,1.0)]
#set collision checking resolution
self.eps = 1e-3
#setup a robot with radius 0.05
self.robot = Circle(0,0,0.05)
#set obstacles here
self.obstacles = []
def __init__(self):
CSpace.__init__(self)
#set bounds
self.bound = [(0.0,1.0),(0.0,1.0),(0.0,math.pi*2)]
#set collision checking resolution
self.eps = 1e-3
#setup a bar with length 0.1
self.L = 0.1
#set obstacles here
self.obstacles = []
def __init__(self):
CSpace.__init__(self)
#set bounds
self.bound = [(0.0, 1.0), (0.0, 1.0)]
#set collision checking resolution
self.eps = 1e-3
#setup a robot with radius 0.05
self.robot = Circle(0, 0, 0.05)
#set obstacles here
self.obstacles = []
def __init__(self):
CSpace.__init__(self)
#set bounds
self.bound = [(0.0, 1.0), (0.0, 1.0), (0.0, math.pi * 2)]
#set collision checking resolution
self.eps = 1e-3
#setup a bar with length 0.1
self.L = 0.1
#set obstacles here
self.obstacles = []
def __init__(self,planner,limb):
CSpace.__init__(self)
self.planner = planner
'''
:type self.planner: LimbPlanner
'''
self.limb = limb
#TODO: what Cartesian bounding box should the planner sample from?
self.bound = [(-pi,pi),(-pi,pi),(-pi,pi),(-pi,pi),(-pi,pi),(-pi,pi),(-pi,pi)]
#TODO: what collision tolerance to use?
self.eps = 1e-2
def __init__(self,planner):
CSpace.__init__(self)
self.planner = planner
#TODO: what Cartesian bounding box should the planner sample from?
self.robot = self.planner.robot
id_to_index = dict([(self.robot.link(i).getID(),i) for i in range(self.robot.numLinks())])
qmin,qmax = self.robot.getJointLimits()
self.bound = [(qmin[i],qmax[i]) for i in range(self.robot.numLinks())]
self.eps = 1e-3
def __init__(self, globals, hand):
CSpace.__init__(self)
self.globals = globals
self.robot = globals.robot
self.hand = hand
#initial whole-body configuratoin
self.q0 = self.robot.getConfig()
#setup CSpace sampling range
qlimits = zip(*self.robot.getJointLimits())
self.bound = [qlimits[i] for i in self.hand.armIndices]
#setup CSpace edge checking epsilon
self.eps = 1e-2
def __init__(self,globals,hand):
CSpace.__init__(self)
self.globals = globals
self.robot = globals.robot
self.hand = hand
#initial whole-body configuratoin
self.q0 = self.robot.getConfig()
#setup CSpace sampling range
qlimits = zip(*self.robot.getJointLimits())
self.bound = [qlimits[i] for i in self.hand.armIndices]
#setup CSpace edge checking epsilon
self.eps = 1e-2
def __init__(self,planner,limb):
CSpace.__init__(self)
self.planner = planner
self.limb = limb
#TODO: what Cartesian bounding box should the planner sample from?
self.robot = self.planner.robot
id_to_index = dict([(self.robot.link(i).getID(),i) for i in range(self.robot.numLinks())])
if limb=='left':
self.limb_indices = [id_to_index[i.getID()] for i in planner.left_arm_links]
else:
self.limb_indices = [id_to_index[i.getID()] for i in planner.right_arm_links]
qmin,qmax = self.robot.getJointLimits()
self.bound = [(qmin[i]-1e-6,qmax[i]+1e-6) for i in self.limb_indices]
self.eps = 1e-1
def __init__(self,planner,limb):
CSpace.__init__(self)
self.planner = planner
self.limb = limb
#TODO: what Cartesian bounding box should the planner sample from?
get_limb_config(planner.robot.getConfig(), self.limb)
self.setup()
self.milestone.getPath
self.bound = [(0,1),(0,1)]
self.setBounds(self.bound)
#TODO: what collision tolerance to use?
self.eps = 1e-2
def __init__(self,planner,limb,obj,grasp):
CSpace.__init__(self)
self.planner = planner
self.limb = limb
self.object = obj
self.grasp = grasp
self.objectGeom = obj.info.geometry
self.robot = self.planner.robot
id_to_index = dict([(self.robot.link(i).getID(),i) for i in range(self.robot.numLinks())])
if limb=='left':
self.limb_indices = [id_to_index[i.getID()] for i in planner.left_arm_links]
else:
self.limb_indices = [id_to_index[i.getID()] for i in planner.right_arm_links]
qmin,qmax = self.robot.getJointLimits()
self.bound = [(qmin[i]-1e-6,qmax[i]+1e-6) for i in self.limb_indices]
self.eps = 1e-1
def __init__(self, planner, limb):
CSpace.__init__(self)
self.planner = planner
self.limb = limb
# TODO: what Cartesian bounding box should the planner sample from?
self.robot = self.planner.robot
id_to_index = dict([(self.robot.link(i).getID(), i) for i in range(self.robot.numLinks())])
if limb == "left":
# self.limb_indices = left_arm_geometry_indices + left_hand_geometry_indices
self.limb_indices = self.planner.left_arm_indices
else:
# self.limb_indices = right_arm_geometry_indices + right_hand_geometry_indices
self.limb_indices = self.planner.right_arm_indices
qmin, qmax = self.robot.getJointLimits()
self.bound = [(qmin[i] - 1e-6, qmax[i] + 1e-6) for i in self.limb_indices]
self.eps = 1e-1
def __init__(self,globals,hand,object):
CSpace.__init__(self)
self.globals = globals
self.robot = globals.robot
self.hand = hand
self.object = object
#setup initial object-robot transform
Thand0 = self.robot.link(hand.link).getTransform()
Tobj0 = object.getTransform()
self.Tgrasp = se3.mul(se3.inv(Thand0),Tobj0)
#initial whole-body configuratoin
self.q0 = self.robot.getConfig()
#setup CSpace sampling range
qlimits = zip(*self.robot.getJointLimits())
self.bound = [qlimits[i] for i in self.hand.armIndices]
#setup CSpace edge checking epsilon
self.eps = 1e-2
def __init__(self, globals, hand, object):
CSpace.__init__(self)
self.globals = globals
self.robot = globals.robot
self.hand = hand
self.object = object
#setup initial object-robot transform
Thand0 = self.robot.link(hand.link).getTransform()
Tobj0 = object.getTransform()
self.Tgrasp = se3.mul(se3.inv(Thand0), Tobj0)
#initial whole-body configuratoin
self.q0 = self.robot.getConfig()
#setup CSpace sampling range
qlimits = zip(*self.robot.getJointLimits())
self.bound = [qlimits[i] for i in self.hand.armIndices]
#setup CSpace edge checking epsilon
self.eps = 1e-2
def __init__(self):
CSpace.__init__(self)
self.extra_feasibility_tests = []
