q_goal [rank] = -0.5
rank = robot.rankInConfiguration ['r_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['r_elbow_flex_joint']
q_goal [rank] = -0.5
vf.loadObstacleModel ("iai_maps", "kitchen_area", "kitchen")
ps.selectPathValidation ("Dichotomy", 0)
import datetime as dt
totalTime = dt.timedelta (0)
totalNumberNodes = 0
N = 20
for i in range (N):
ps.clearRoadmap ()
ps.resetGoalConfigs ()
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
t1 = dt.datetime.now ()
ps.solve ()
t2 = dt.datetime.now ()
totalTime += t2 - t1
print (t2-t1)
n = len (ps.client.problem.nodes ())
totalNumberNodes += n
print ("Number nodes: " + str(n))
print ("Average time: " + str ((totalTime.seconds+1e-6*totalTime.microseconds)/float (N)))
print ("Average number nodes: " + str (totalNumberNodes/float (N)))
pp = PathPlayer (robot.client, r)
r.loadObstacleModel ("animals_description","scene_jump_harder","scene_jump_harder")
q1 = cl.robot.projectOnObstacle (q11, 0.001); q2 = cl.robot.projectOnObstacle (q22, 0.001)
robot.isConfigValid(q1); robot.isConfigValid(q2)
r(q1)
ps.setInitialConfig (q1); ps.addGoalConfig (q2)
offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2
#plotFrame (r, 'frame_group', [0,0,0], 0.6)
# First parabolas: vmax = 7m/s, mu = 1.2
cl.problem.setFrictionCoef(1.2); cl.problem.setMaxVelocityLim(7)
ps.clearRoadmap();
solveTime = ps.solve () # 299 nodes
pathId = ps.numberPaths()-offsetOrientedPath # path without orientation stuff
pathSamples = plotSampleSubPath (cl, r, pathId, 70, "path0", [0,0,1,1])
plotCone (q1, cl, r, "cone_first", "friction_cone_SG2"); plotCone (q2, cl, r, "cone_second", "friction_cone_SG2")
plotConeWaypoints (cl, pathId, r, "cone_wp_group", "friction_cone_WP2")
gui.writeNodeFile('cone_wp_group','cones_path.dae')
gui.writeNodeFile('cone_first','cone_start.dae')
gui.writeNodeFile('cone_second','cone_goal.dae')
# Second parabolas: vmax = 6.5m/s, mu = 0.5 # DO NOT SOLVE FIRST PATH BEFORE
cl.problem.setFrictionCoef(0.5); cl.problem.setMaxVelocityLim(6.5)
ps.clearRoadmap();
solveTime = ps.solve () # 4216 nodes .... 37848 edges
from hpp.corbaserver import ProblemSolver
ps = ProblemSolver (robot)
from hpp.gepetto import Viewer
v = Viewer (ps)
q_init = robot.getCurrentConfig ()
q_goal = q_init [::]
q_init [0:3] = [1, 2, 1]
q_goal [0:3] = [9.15, 7.5, 0.5]
v.loadObstacleModel ("iai_maps", "env_simple", "simple")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
ps.clearRoadmap()
ps.selectPathPlanner("interactive")
white=[1.0,1.0,1.0,1.0]
brown=[0.85,0.75,0.15,0.5]
ps.addPathOptimizer ("RandomShortcut")
v.solveAndDisplay("rm1",50,white,0.05,1,brown)
#ps.solve()
from hpp.gepetto import PathPlayer
pp = PathPlayer (robot.client, v)
v(q_goal)
pp (0)
pp (1)