Python setJointBounds Examples

Example #1

File: manipulation_box.py Project: florent-lamiraux/florent-lamiraux.github.io

from math import sqrt
from hpp import Transform
from manipulation import robot, vf, ConstraintGraph, ps, Ground, Box, Pokeball, PathPlayer, gripperName, ballName

vf.loadEnvironmentModel (Ground, 'ground')
vf.loadEnvironmentModel (Box, 'box')
vf.moveObstacle ('box/base_link_0', [0.3+0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle ('box/base_link_1', [0.3-0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle ('box/base_link_2', [0.3, 0.04, 0.04, 1, 0, 0, 0])
vf.moveObstacle ('box/base_link_3', [0.3, -0.04, 0.04, 1, 0, 0, 0])

vf.loadObjectModel (Pokeball, 'pokeball')
robot.setJointBounds ('pokeball/base_joint_xyz', [-.4,.4,-.4,.4,-.1,1.])

r = vf.createViewer ()

q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 1, 0, 0, 0]
r (q1)

## Create graph
graph = ConstraintGraph (robot, 'graph')

gripperAboveBall = (0, 0, 0.15, 0, -sqrt (2)/2, -sqrt (2)/2, 0)
ballAboveGround = [0, 0, 0.1, 1, 0, 0, 0]

## Create your own graph here
pp = PathPlayer (ps.client.basic, r)

Example #2

File: manipulation_box.py Project: florent-lamiraux/florent-lamiraux.github.io

from math import sqrt
from hpp import Transform
from manipulation import robot, vf, ConstraintGraph, ps, Ground, Box, Pokeball, PathPlayer, gripperName, ballName

vf.loadEnvironmentModel(Ground, 'ground')
vf.loadEnvironmentModel(Box, 'box')
vf.moveObstacle('box/base_link_0', [0.3 + 0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle('box/base_link_1', [0.3 - 0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle('box/base_link_2', [0.3, 0.04, 0.04, 1, 0, 0, 0])
vf.moveObstacle('box/base_link_3', [0.3, -0.04, 0.04, 1, 0, 0, 0])

vf.loadObjectModel(Pokeball, 'pokeball')
robot.setJointBounds('pokeball/base_joint_xyz', [-.4, .4, -.4, .4, -.1, 1.])

r = vf.createViewer()

q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 1, 0, 0, 0]
r(q1)

## Create graph
graph = ConstraintGraph(robot, 'graph')

gripperAboveBall = (0, 0, 0.15, 0, -sqrt(2) / 2, -sqrt(2) / 2, 0)
ballAboveGround = [0, 0, 0.1, 1, 0, 0, 0]

## Create your own graph here
pp = PathPlayer(ps.client.basic, r)

Example #3

File: grasp_ball_in_box.py Project: jossdeloste/ISAE-SUPAERO

from hpp import Transform
from hpp.corbaserver.manipulation import ConstraintGraph
from manipulation import robot, vf, ps, Ground, Box, Pokeball, PathPlayer, gripperName, ballName

# Loading & installing our working environment
vf.loadEnvironmentModel (Ground, 'ground')
vf.loadEnvironmentModel (Box, 'box')
vf.moveObstacle ('box/base_link_0', [0.3+0.04, 0, 0.04, 0, 0, 0, 1])
vf.moveObstacle ('box/base_link_1', [0.3-0.04, 0, 0.04, 0, 0, 0, 1])
vf.moveObstacle ('box/base_link_2', [0.3, 0.04, 0.04, 0, 0, 0, 1])
vf.moveObstacle ('box/base_link_3', [0.3, -0.04, 0.04, 0, 0, 0, 1])

# Loading our pokeball which plays our ball's role
vf.loadObjectModel (Pokeball, 'pokeball')
robot.setJointBounds ('pokeball/root_joint', [-.4,.4,-.4,.4,-.1,1.,
                                              -1.0001, 1.0001,-1.0001, 1.0001,
                                              -1.0001, 1.0001,-1.0001, 1.0001,])

r = vf.createViewer ()

q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 0, 0, 0, 1]
r (q1)

## Create graph
graph = ConstraintGraph (robot, 'graph')

# Contraint of ball relative position while it is located in the gripper 
ballInGripper = [0, .137, 0, 0.5, 0.5, -0.5, 0.5]
ps.createTransformationConstraint ('grasp', gripperName, ballName,
                                   ballInGripper, 6*[True,])
                                   

Example #4

File: grasp_ball.py Project: humanoid-path-planner/hpp-practicals

from manipulation import PathPlayer  # noqa: F401

Client().problem.resetProblem()

vf.loadEnvironmentModel(Ground, "ground")
vf.loadObjectModel(Pokeball, "pokeball")
robot.setJointBounds(
    "pokeball/root_joint",
    [
        -0.4,
        0.4,
        -0.4,
        0.4,
        -0.1,
        2.0,
        -1.0001,
        1.0001,
        -1.0001,
        1.0001,
        -1.0001,
        1.0001,
        -1.0001,
        1.0001,
    ],
)


q1 = [0, -1.57, 1.57, 0, 0, 0, 0.3, 0, 0.025, 0, 0, 0, 1]

# Create constraint graph
graph = ConstraintGraph(robot, "graph")