Python Robot Exemples

Exemple #1

Fichier : script.py Projet : nim65s/hpp_benchmark

#
#

from __future__ import print_function
import time, CORBA, re, os, sys
from hpp.corbaserver.manipulation import ProblemSolver, ConstraintGraph, \
    ConstraintGraphFactory, Constraints, Rule
from hpp.corbaserver.manipulation.romeo import Robot
from hpp.gepetto.manipulation import Viewer, ViewerFactory
from hpp.gepetto import PathPlayer
from hpp import Transform

Robot.srdfSuffix = '_moveit'
robot = Robot('romeo-placard', 'romeo')


# Define classes for the objects {{{4
class Placard(object):
    rootJointType = 'freeflyer'
    packageName = 'hpp_environments'
    urdfName = 'placard'
    urdfSuffix = ''
    srdfSuffix = ''

    def __init__(self, name, vf):
        self.name = name
        self.vf = vf
        self.joints = [name + '/root_joint']
        self.handles = dict()
        self.handles['low'] = name + '/low'
        self.handles['high'] = name + '/high'

Exemple #2

from hpp.gepetto.manipulation import Viewer, ViewerFactory
from hpp.gepetto import PathPlayer
from hpp import Transform
from hpp.corbaserver import loadServerPlugin

parser = ArgumentParser()
parser.add_argument('-N', default=20, type=int)
parser.add_argument('--display', action='store_true')
parser.add_argument('--run', action='store_true')
args = parser.parse_args()

loadServerPlugin("corbaserver", "manipulation-corba.so")
Client().problem.resetProblem()

Robot.srdfSuffix = '_moveit'
robot = Robot('romeo-placard', 'romeo')


# Define classes for the objects {{{4
class Placard(object):
    rootJointType = 'freeflyer'
    packageName = 'hpp_environments'
    urdfName = 'placard'
    urdfSuffix = ''
    srdfSuffix = ''

    def __init__(self, name, vf):
        self.name = name
        self.vf = vf
        self.joints = [name + '/root_joint']
        self.handles = dict()

Exemple #3

Fichier : romeo_kitchen.py Projet : humanoid-path-planner/test-hpp

  handle = "kitchen_area/fridge_handle_fridge_handle"

class Cup (object):
  rootJointType = "freeflyer"
  packageName = 'hpp_tutorial'
  meshPackageName = 'hpp_tutorial'
  urdfName = 'cup'
  urdfSuffix = ""
  srdfSuffix = ""
  joint = "cup/base_joint"
  handle = "cup/handle"

Robot.srdfSuffix = "_moveit"
# 4}}}

robot = Robot ('romeo-kitchen', 'romeo')
ps = ProblemSolver (robot)
vf = ViewerFactory (ps)

robot.setJointBounds ("romeo/base_joint_xyz" , [-6,-2,-5.2,-2.7, 0, 2])
vf.loadObjectModel (Kitchen, "kitchen_area")
vf.loadObjectModel (Cup, "cup")

robot.setJointBounds ('cup/base_joint_xyz', [-6,-4,-5,-3,0,1.5])
# 3}}}

# Define configurations. {{{3
robot.setCurrentConfig (robot.getInitialConfig ())
q_init = robot.getHandConfig ("both", "open")
rank = robot.rankInConfiguration ['romeo/base_joint_xyz']
q_init [rank:rank+7] = [-3.5,-3.7, 0.877, 1, 0, 0, 0]

Exemple #4

Fichier : script.py Projet : humanoid-path-planner/hpp_benchmark

#
#

from __future__ import print_function
import time, CORBA, re, os, sys
from hpp.corbaserver.manipulation import ProblemSolver, ConstraintGraph, \
    ConstraintGraphFactory, Constraints, Rule
from hpp.corbaserver.manipulation.romeo import Robot
from hpp.gepetto.manipulation import Viewer, ViewerFactory
from hpp.gepetto import PathPlayer
from hpp import Transform

Robot.srdfSuffix = '_moveit'
robot = Robot ('romeo-placard', 'romeo')

# Define classes for the objects {{{4
class Placard (object):
  rootJointType = 'freeflyer'
  packageName = 'hpp_environments'
  urdfName = 'placard'
  urdfSuffix = ''
  srdfSuffix = ''
  def __init__ (self, name, vf):
    self.name = name
    self.vf = vf
    self.joints = [name + '/root_joint']
    self.handles = dict ()
    self.handles ['low'] = name + '/low'
    self.handles ['high'] = name + '/high'
    vf.loadObjectModel (self.__class__, name)
    self.rank = vf.robot.rankInConfiguration [name + '/root_joint']

Exemple #5

Fichier : romeo_kitchen.py Projet : nim65s/test-hpp

class Cup(object):
    rootJointType = "freeflyer"
    packageName = 'hpp_tutorial'
    meshPackageName = 'hpp_tutorial'
    urdfName = 'cup'
    urdfSuffix = ""
    srdfSuffix = ""
    joint = "cup/base_joint"
    handle = "cup/handle"


Robot.srdfSuffix = "_moveit"
# 4}}}

robot = Robot('romeo-kitchen', 'romeo')
ps = ProblemSolver(robot)
vf = ViewerFactory(ps)

robot.setJointBounds("romeo/base_joint_xyz", [-6, -2, -5.2, -2.7, 0, 2])
vf.loadObjectModel(Kitchen, "kitchen_area")
vf.loadObjectModel(Cup, "cup")

robot.setJointBounds('cup/base_joint_xyz', [-6, -4, -5, -3, 0, 1.5])
# 3}}}

# Define configurations. {{{3
robot.setCurrentConfig(robot.getInitialConfig())
q_init = robot.getHandConfig("both", "open")
rank = robot.rankInConfiguration['romeo/base_joint_xyz']
q_init[rank:rank + 7] = [-3.5, -3.7, 0.877, 1, 0, 0, 0]