Python Robot Exemples

Exemple #1

Fichier : tutorial_2.py Projet : anna-seppala/hpp_tutorial

from hpp.corbaserver.pr2 import Robot
robot = Robot ('pr2')
robot.setJointBounds ("base_joint_xy", [-4, -3, -5, -3])

from hpp_ros import ScenePublisher
r = ScenePublisher (robot)

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver (robot)

q_init = robot.getCurrentConfig ()
q_goal = q_init [::]
q_init [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['torso_lift_joint']
q_init [rank] = 0.2
r (q_init)

q_goal [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['l_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['l_elbow_flex_joint']
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
r (q_goal)

ps.loadObstacleFromUrdf ("iai_maps", "kitchen_area", "")

ps.setInitialConfig (q_init)

Exemple #2

Fichier : debug.py Projet : nassimeblinlaas/hpp_tutorial-vieux

from hpp.corbaserver.pr2 import Robot
robot = Robot('pr2', False)

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver(robot)

from gepetto.corbaserver import Client as GuiClient
guiClient = GuiClient()

from hpp.gepetto import Viewer
Viewer.sceneName = '0_scene_hpp_'
r = Viewer(ps, guiClient)

from hpp.gepetto import PathPlayer
pp = PathPlayer(robot.client, r)

Exemple #3

Fichier : tutorial_1.py Projet : humanoid-path-planner/hpp_tutorial

from hpp.corbaserver.pr2 import Robot
robot = Robot ('pr2')
robot.setJointBounds ("root_joint", [-4, -3, -5, -3])

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver (robot)

from hpp.gepetto import ViewerFactory
vf = ViewerFactory (ps)

q_init = robot.getCurrentConfig ()
q_goal = q_init [::]
q_init [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['torso_lift_joint']
q_init [rank] = 0.2
vf (q_init)

q_goal [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['l_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['l_elbow_flex_joint']
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 (q_goal)

vf.loadObstacleModel ("iai_maps", "kitchen_area", "kitchen")

ps.setInitialConfig (q_init)

Exemple #4

Fichier : script.py Projet : jmirabel/hpp_benchmark

from hpp.corbaserver.pr2 import Robot

robot = Robot("pr2")
robot.setJointBounds("base_joint_xy", [-4, -3, -5, -3])

from hpp_ros import ScenePublisher

r = ScenePublisher(robot)

from hpp.corbaserver import ProblemSolver

ps = ProblemSolver(robot)

q_init = [
    -3.2,
    -4,
    0,
    0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.2,
    0.0,

Exemple #5

Fichier : script.py Projet : pFernbach/hpp_benchmark

from hpp.corbaserver.pr2 import Robot
robot = Robot('pr2')
robot.setJointBounds("base_joint_x", [-4, -3])
robot.setJointBounds("base_joint_y", [-5, -3])

from hpp_ros import ScenePublisher
r = ScenePublisher(robot)

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver(robot)

q_init = [
    -3.2, -4, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2,
    0.0, 0.0, 0.0, 0.0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0.0, 0.0, 0.0, 0.0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0.0
]
r(q_init)

q_goal = [
    -3.2, -4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0, 0.0, 0.0, 0.0, 0.5, 0, -0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0.0, 0.0, 0.0, 0.0, 0.5, 0, -0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0.0, 0.0
]
r(q_goal)

ps.loadObstacleFromUrdf("iai_maps", "kitchen_area", "")

ps.selectPathOptimizer("None")
ps.selectPathValidation("Dichotomy", 0)

Exemple #6

from hpp.corbaserver.pr2 import Robot
from hpp.gepetto import PathPlayer
from math import pi

robot = Robot ('pr2')
robot.setJointBounds ("root_joint", [-4, -3, -5, -3,-2,2,-2,2])

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver (robot)

from hpp.gepetto import ViewerFactory
vf = ViewerFactory (ps)

q_init = robot.getCurrentConfig ()
q_goal = q_init [::]
q_init [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['torso_lift_joint']
q_init [rank] = 0.2

q_goal [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['l_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['l_elbow_flex_joint']
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")

Exemple #7

Fichier : tutorial_2.py Projet : nim65s/hpp_tutorial

from hpp.corbaserver.pr2 import Robot
from hpp.gepetto import ViewerFactory
from hpp.corbaserver import ProblemSolver

robot = Robot("pr2")
robot.setJointBounds("root_joint", [-4, -3, -5, -3])

ps = ProblemSolver(robot)

vf = ViewerFactory(ps)

q_init = robot.getCurrentConfig()
q_goal = q_init[::]
q_init[0:2] = [-3.2, -4]
rank = robot.rankInConfiguration["torso_lift_joint"]
q_init[rank] = 0.2
vf(q_init)

q_goal[0:2] = [-3.2, -4]
rank = robot.rankInConfiguration["l_shoulder_lift_joint"]
q_goal[rank] = 0.5
rank = robot.rankInConfiguration["l_elbow_flex_joint"]
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(q_goal)

vf.loadObstacleModel("iai_maps", "kitchen_area", "kitchen")

Exemple #8

Fichier : tutorial_2.py Projet : mylene-campana/hpp_tutorial

#/usr/bin/env python

import time
from hpp.corbaserver import ProblemSolver
from hpp.corbaserver.pr2 import Robot
robot = Robot ('pr2') #35 DOF
robot.setJointBounds ("base_joint_xy", [-4, -3, -5, -3])
ps = ProblemSolver (robot)

from hpp.gepetto import Viewer, PathPlayer
Viewer.withFloor = True
r = Viewer (ps)
pp = PathPlayer (robot.client, r)
r.loadObstacleModel ("iai_maps","kitchen_area","kitchen_area") # visual kitchen

q_init = robot.getCurrentConfig ()
q_goal = q_init [::]
q_init [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['torso_lift_joint']
q_init [rank] = 0.2
r (q_init)

q_goal [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['l_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['l_elbow_flex_joint']
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