def __init__(self, name=None, load=True, client=None, clientRbprm=None):
if name is not None:
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
self.setReferenceEndEffector('anymal_LFleg_rom',self.ref_EE_lLeg)
self.setReferenceEndEffector('anymal_RFleg_rom',self.ref_EE_rLeg)
self.setReferenceEndEffector('anymal_LHleg_rom',self.ref_EE_lArm)
self.setReferenceEndEffector('anymal_RHleg_rom',self.ref_EE_rArm)
def __init__ (self,name = None, load = True):
Parent.__init__ (self,load)
if load:
self.loadModel(self.urdfName, self.urdfNameRom, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix)
if name != None:
self.name = name
self.setReferenceEndEffector('simpleHumanoid_lleg_rom',self.ref_EE_lLeg)
self.setReferenceEndEffector('simpleHumanoid_rleg_rom',self.ref_EE_rLeg)
def __init__(self, name=None, load=True, client=None, clientRbprm=None):
if name is not None:
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client,
None, clientRbprm)
self.setReferenceEndEffector('simple_humanoid_lleg_rom',
self.ref_EE_lLeg)
self.setReferenceEndEffector('simple_humanoid_rleg_rom',
self.ref_EE_rLeg)
def __init__ (self, name = None, load = True):
Parent.__init__ (self,load)
if load:
self.loadModel(self.urdfName, self.urdfNameRom, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix)
if name != None:
self.name = name
self.setReferenceEndEffector('hyq_lfleg_rom',self.ref_EE_lLeg)
self.setReferenceEndEffector('hyq_rfleg_rom',self.ref_EE_rLeg)
self.setReferenceEndEffector('hyq_lhleg_rom',self.ref_EE_lArm)
self.setReferenceEndEffector('hyq_rhleg_rom',self.ref_EE_rArm)
def __init__(self, name=None, load=True, client=None, clientRbprm=None):
if name is not None:
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client,
None, clientRbprm)
if "talos_lleg_rom" in self.urdfNameRom:
self.setReferenceEndEffector("talos_lleg_rom", self.ref_EE_lLeg)
if "talos_rleg_rom" in self.urdfNameRom:
self.setReferenceEndEffector("talos_rleg_rom", self.ref_EE_rLeg)
if "talos_larm_rom" in self.urdfNameRom:
self.setReferenceEndEffector("talos_larm_rom", self.ref_EE_lArm)
if "talos_rarm_rom" in self.urdfNameRom:
self.setReferenceEndEffector("talos_rarm_rom", self.ref_EE_rArm)
def __init__(self, name=None, load=True):
Parent.__init__(self, load)
if load:
self.loadModel(self.urdfName, self.urdfNameRom, self.rootJointType,
self.meshPackageName, self.packageName,
self.urdfSuffix, self.srdfSuffix)
if name is not None:
self.name = name
if 'talos_lleg_rom' in self.urdfNameRom:
self.setReferenceEndEffector('talos_lleg_rom', self.ref_EE_lLeg)
if 'talos_rleg_rom' in self.urdfNameRom:
self.setReferenceEndEffector('talos_rleg_rom', self.ref_EE_rLeg)
if 'talos_larm_rom' in self.urdfNameRom:
self.setReferenceEndEffector('talos_larm_rom', self.ref_EE_lArm)
if 'talos_rarm_rom' in self.urdfNameRom:
self.setReferenceEndEffector('talos_rarm_rom', self.ref_EE_rArm)
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
# URDF file describing the trunk of the robot HyQ
urdfName = 'hyq_trunk_large'
# URDF files describing the reachable workspace of each limb of HyQ
urdfNameRom = [
'hyq_lhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_rhleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
vMax = 2
aMax = 5
extraDof = 6
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [-2.5, 2.5, -6, 6, 0.6, 0.65])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
rbprmBuilder.setFilter(
['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_lhleg_rom'])
rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', [
'Support',
])
rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', [
'Support',
])
# gepetto-viewer-server
# not hppcorbaserver
# but hpp-rbprm-server
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hyq_trunk'
urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom']
urdfSuffix = ""
srdfSuffix = ""
# name_of_scene = "groundcrouch"
name_of_scene = "basic"
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-6,5, -4, 4, 0.6, 2])
rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom'])
rbprmBuilder.setNormalFilter('hyq_lhleg_rom', [0,0,1], 0.9)
rbprmBuilder.setNormalFilter('hyq_rfleg_rom', [0,0,1], 0.9)
rbprmBuilder.setNormalFilter('hyq_lfleg_rom', [0,0,1], 0.9)
rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0.1,0.1,-1,1,-1,1])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
# Importing Gepetto viewer helper class
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
# URDF file describing the trunk of the robot HyQ
urdfName = 'hyq_trunk_large'
# URDF files describing the reachable workspace of each limb of HyQ
urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom']
urdfSuffix = ""
srdfSuffix = ""
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom'])
# ... and only if a contact surface includes the gravity
rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support',])
rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', ['Support',])
rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', ['Support',])
rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support', 'Lean'])
# We also bound the rotations of the torso.
rbprmBuilder.boundSO3([-0.4,0.4,-3,3,-3,3])
# Creating an instance of HPP problem solver and the viewer
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01])
rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
from viewer_library import *
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'spiderman_trunk'
urdfNameRoms = [
'SpidermanLFootSphere', 'SpidermanRFootSphere', 'SpidermanLHandSphere',
'SpidermanRHandSphere'
]
urdfSuffix = ""
srdfSuffix = ""
ecsSize = 4
base_joint_xyz_limits = [-10, 10, -10, 15, 0, 10]
rbprmBuilder = Builder() # RBPRM
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", base_joint_xyz_limits)
rbprmBuilder.boundSO3([-0.2, 0.2, -3.14, 3.14, -0.3, 0.3])
rbprmBuilder.setFilter(urdfNameRoms)
affordanceType = ['Support']
rbprmBuilder.setAffordanceFilter('SpidermanLFootSphere', affordanceType)
rbprmBuilder.setAffordanceFilter('SpidermanRFootSphere', affordanceType)
rbprmBuilder.setAffordanceFilter('SpidermanLHandSphere', affordanceType)
rbprmBuilder.setAffordanceFilter('SpidermanRHandSphere', affordanceType)
rbprmBuilder.setContactSize(0.03, 0.08)
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(ecsSize)
rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds(
[0, 0, 0, 0, 0, 0, -3.14, 3.14])
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, self.rootJointType, load)
self.tf_root = "base_footprint"
self.client.basic = Client ()
self.load = load
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,5, -1, 1, 0, 2.2])
rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, self.rootJointType, load)
self.tf_root = "base_footprint"
self.client.basic = Client ()
self.load = load
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
#~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('3Rarm', ['Support'])
rbprmBuilder.setAffordanceFilter('0rLeg', ['Support',])
rbprmBuilder.setAffordanceFilter('1lLeg', ['Support'])
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.corbaserver.affordance.affordance import AffordanceTool
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import PathPlayer, Viewer
rootJointType = "freeflyer"
packageName = "hpp-rbprm-corba"
meshPackageName = "hpp-rbprm-corba"
urdfName = "hyq_trunk_large"
urdfNameRom = [
"hyq_lhleg_rom", "hyq_lfleg_rom", "hyq_rfleg_rom", "hyq_rhleg_rom"
]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(
urdfName,
urdfNameRom,
rootJointType,
meshPackageName,
packageName,
urdfSuffix,
srdfSuffix,
)
rbprmBuilder.setJointBounds("base_joint_xyz", [-2, 5, -1, 1, 0.3, 4])
rbprmBuilder.setFilter(
["hyq_lhleg_rom", "hyq_lfleg_rom", "hyq_rfleg_rom", "hyq_rhleg_rom"])
rbprmBuilder.setAffordanceFilter("hyq_rhleg_rom", ["Support", "Lean"])
rbprmBuilder.setAffordanceFilter(
def __init__ (self, robotName, load = True):
Parent.__init__ (self, robotName, self.rootJointType, load)
self.tf_root = "base_footprint"
self.client.basic = Client ()
self.load = load
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
#~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('3Rarm', ['Support'])
rbprmBuilder.setAffordanceFilter('4Larm', ['Support'])
rbprmBuilder.setAffordanceFilter('0rLeg', ['Support',])
rbprmBuilder.setAffordanceFilter('1lLeg', ['Support'])
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'robot_test_trunk'
urdfNameRom = ['robot_test_lleg_rom','robot_test_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
vMax = 1;
aMax = 5;
extraDof = 6
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-6,6, -3, 3, 0, 2.5])
rbprmBuilder.boundSO3([-0.1,0.1,-1,1,-1,1])
rbprmBuilder.setFilter(['robot_test_lleg_rom', 'robot_test_rleg_rom'])
rbprmBuilder.setAffordanceFilter('robot_test_lleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('robot_test_rleg_rom', ['Support'])
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof)
rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,0,0,0,0,0,0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
ps.client.problem.setParameter("aMax",aMax)
ps.client.problem.setParameter("vMax",vMax)
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-1,2, -1, 1, 0, 2.2])
rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
# Define which problems are to be solved
walk_forward=False
walk_sideway=True
walk_oblique=False
walk_various=False
q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
self.client.basic = Client()
self.load = load
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = [
'hrp2_larm_rom_visual', 'hrp2_rarm_rom_visual', 'hrp2_lleg_rom_visual',
'hrp2_rleg_rom_visual'
]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [0, 3, -2, 0, 0.3, 1])
rbprmBuilder.setFilter(['hrp2_lleg_rom_visual', 'hrp2_rleg_rom_visual'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom_visual', ['Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom_visual', [
'Support',
])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom_visual', ['Support'])
rbprmBuilder.boundSO3([-0., 0, -1, 1, -1, 1])
vMax = 1
aMax = 10
extraDof = 6
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof)
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = "freeflyer"
packageName = "hpp-rbprm-corba"
meshPackageName = "hpp-rbprm-corba"
urdfName = "hrp2_trunk_flexible"
urdfNameRoms = ["hrp2_larm_rom", "hrp2_rarm_rom", "hrp2_lleg_rom", "hrp2_rleg_rom"]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [-2, 5, -1, 1, 0.55, 4])
rbprmBuilder.setFilter(["hrp2_lleg_rom", "hrp2_rleg_rom"])
rbprmBuilder.setNormalFilter("hrp2_larm_rom", [0, 0, 1], 0.4)
rbprmBuilder.setNormalFilter("hrp2_rarm_rom", [0, 0, 1], 0.4)
rbprmBuilder.setNormalFilter("hrp2_lleg_rom", [0, 0, 1], 0.4)
rbprmBuilder.setNormalFilter("hrp2_rleg_rom", [0, 0, 1], 0.4)
rbprmBuilder.boundSO3([-0.1, 0.1, -0.1, 0.1, -1.0, 0.0])
# ~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver(rbprmBuilder)
r = Viewer(ps)
q_init = rbprmBuilder.getCurrentConfig()
#~ cl.problem.selectProblem("robot0")
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'spiderman_trunk'
urdfNameRoms = [
'SpidermanLFootSphere', 'SpidermanRFootSphere', 'SpidermanLHandSphere',
'SpidermanRHandSphere'
]
urdfSuffix = ""
srdfSuffix = ""
ecsSize = 4
base_joint_xyz_limits = [-10, 10, -10, 15, 0, 10]
rbprmBuilder = Builder() # RBPRM
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [0, 2.5, -1, 1, 0, 2.2])
rbprmBuilder.boundSO3([-0., 0, -1, 1, -1, 1])
rbprmBuilder.setFilter(urdfNameRoms)
affordanceType = ['Support']
affordanceTypeHand = ['Support']
rbprmBuilder.setAffordanceFilter('LFoot', affordanceType)
rbprmBuilder.setAffordanceFilter('RFoot', affordanceType)
rbprmBuilder.setAffordanceFilter('LHand', affordanceTypeHand)
rbprmBuilder.setAffordanceFilter('RHand', affordanceTypeHand)
#~ rbprmBuilder.setContactSize (0.03,0.08)
#~ rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(ecsSize)
#~ rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,-3.14,3.14])
#~
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-1,2, -1.5, 1, 0.5, 0.9])
rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom','hrp2_larm_rom'])
#~ rbprmBuilder.setNormalFilter('hrp2_larm_rom', [0,0,1], 0.4)
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.4)
rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.6)
rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.6)
rbprmBuilder.boundSO3([-1.5,1.5,0,3,-0.0,0.0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
q0 = rbprmBuilder.getCurrentConfig ();
q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
#~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setAffordanceFilter('3Rarm', ['Support'])
#~ rbprmBuilder.setAffordanceFilter('0rLeg', ['Support',])
#~ rbprmBuilder.setAffordanceFilter('1lLeg', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
#~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setAffordanceFilter('3Rarm', ['Support'])
#~ rbprmBuilder.setAffordanceFilter('0rLeg', ['Support',])
#~ rbprmBuilder.setAffordanceFilter('1lLeg', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support',])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1, 1, 0, 2.2])
#~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
q_init = rbprmBuilder.getCurrentConfig ();
import sys
#~ print sys.args
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfNameTested = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
scene = sys.argv[len(sys.argv)-1]
tested = Builder ()
tested.loadModel(urdfNameTested, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
#~ tested.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ tested.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
ps = ProblemSolver( tested )
r = Viewer (ps)
r.loadObstacleModel (packageName, scene, "planning")
tested.setJointBounds ("base_joint_xyz", [-10.,10,-10,10,0,20])
ps.client.problem.selectConFigurationShooter("RbprmShooter")
q_init = tested.getCurrentConfig ();
q_init [0:3] = [-10, -0.82, 1.25]; tested.setCurrentConfig (q_init); r (q_init)
q_goal = q_init [::]
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
# URDF file describing the trunk of the robot HyQ
urdfName = 'hyq_trunk_large'
# URDF files describing the reachable workspace of each limb of HyQ
urdfNameRom = [
'hyq_lhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_rhleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [0, 6, -1, 1, 0.3, 4])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
rbprmBuilder.setFilter(
['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_lhleg_rom'])
rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', [
'Support',
])
rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', [
'Support',
])
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-1.3,1, -0.5, 0.5, 0, 0.9])
rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
rbprmBuilder.boundSO3([-0.4,0.4,-3,3,-3,3])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
q0 = rbprmBuilder.getCurrentConfig ();
q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
self.tf_root = "base_footprint"
self.client.basic = Client()
self.load = load
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = [
'hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("root_joint", [0, 2, -1, 1, 0, 2.2])
#~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('3Rarm', ['Support'])
rbprmBuilder.setAffordanceFilter('0rLeg', [
'Support',
])
rbprmBuilder.setAffordanceFilter('1lLeg', ['Support'])
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0., 0, -1, 1, -1, 1])
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRom = [
'hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
vMax = 4.5
aMax = 6.
extraDof = 6
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
#rbprmBuilder.setJointBounds ("base_joint_xyz", [-1.25,2, -0.5, 5.5, 0.6, 1.8])
rbprmBuilder.setJointBounds("base_joint_xyz",
[-1.7, 2.75, 0.95, 1.05, 0.1, 1.8])
rbprmBuilder.setJointBounds('CHEST_JOINT0', [0, 0])
rbprmBuilder.setJointBounds('CHEST_JOINT1', [-0.35, 0.1])
rbprmBuilder.setJointBounds('HEAD_JOINT0', [0, 0])
rbprmBuilder.setJointBounds('HEAD_JOINT1', [0, 0])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
rbprmBuilder.setFilter(['hrp2_lleg_rom', 'hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', [
'Support',
import sys
#~ print sys.args
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfNameTested = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
scene = sys.argv[len(sys.argv)-1]
tested = Builder ()
tested.loadModel(urdfNameTested, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
#~ tested.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ tested.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
ps = ProblemSolver( tested )
r = Viewer (ps)
r.loadObstacleModel (packageName, scene, "planning")
tested.setJointBounds ("base_joint_xyz", [-10.,10,-10,10,0,20])
ps.client.problem.selectConFigurationShooter("RbprmShooter")
q_init = tested.getCurrentConfig ();
q_init [0:3] = [-10, -0.82, 1.25]; tested.setCurrentConfig (q_init); r (q_init)
q_goal = q_init [::]
self.tf_root = "base_footprint"
self.client.basic = Client()
self.load = load
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = [
'hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [-1, 3, -1, 1, 0, 6])
#~ rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
#~ rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support'])
#~ rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Lean'])
#~ rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', [
'Support',
])
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = [
'hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [-1.3, 1, -0.5, 0.5, 0, 0.9])
rbprmBuilder.setFilter(
['hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'])
#~ rbprmBuilder.setNormalFilter('hrp2_larm_rom', [-1,0,0], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [-1,0,0], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.5)
rbprmBuilder.boundSO3([-0.4, 0.4, -3, 3, -3, 3])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver(rbprmBuilder)
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = [
'hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [0, 2, -1, 1, 0, 2.2])
#~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9)
#~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9)
rbprmBuilder.boundSO3([-0., 0, -1, 1, -1, 1])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver(rbprmBuilder)
r = Viewer(ps)
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2.2, -1, 1, 0.7, 2.5])
#~ rbprmBuilder.setJointBounds ("base_joint_xyz", [-20,20.2, -10, 10, 0.7, 2.5])
#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setNormalFilter('hrp2_larm_rom', [0,0,1], 0.4)
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.4)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.6)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.6)
rbprmBuilder.boundSO3([-0.1,0.1,-3,3,-1.0,1.0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = [
'hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [0, 2.2, -1, 1, 0.7, 2.5])
#~ rbprmBuilder.setJointBounds ("base_joint_xyz", [-20,20.2, -10, 10, 0.7, 2.5])
#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setFilter(['hrp2_lleg_rom', 'hrp2_rleg_rom'])
#~ rbprmBuilder.setNormalFilter('hrp2_larm_rom', [0,0,1], 0.4)
#~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.4)
#~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.6)
#~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.6)
rbprmBuilder.boundSO3([-0.1, 0.1, -3, 3, -1.0, 1.0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver(rbprmBuilder)
Parent.__init__(self, robotName, self.rootJointType, load)
self.tf_root = "base_footprint"
self.client.basic = Client()
self.load = load
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_arms_flexible'
urdfNameRoms = [rLegId, lLegId, rArmId, lArmId]
urdfSuffix = ""
srdfSuffix = ""
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
rbprmBuilder.setFilter(['hrp2_lleg_rom', 'hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', [
'Support',
])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
vMax = 0.2
aMax = 0.1
extraDof = 6
#rbprmBuilder.setJointBounds ("base_joint_xyz", [-1,2.5,0.5 ,3, 0.6, 0.6])
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'spiderman_trunk'
urdfNameRoms = [
'SpidermanLFootSphere', 'SpidermanRFootSphere', 'SpidermanLHandSphere',
'SpidermanRHandSphere'
]
urdfSuffix = ""
srdfSuffix = ""
ecsSize = 4
base_joint_xyz_limits = [-10, 10, -10, 15, 0, 10]
rbprmBuilder = Builder() # RBPRM
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [-1, 3, -1, 1, 0, 6])
rbprmBuilder.boundSO3([-0., 0, -1, 1, -1, 1])
rbprmBuilder.setFilter(urdfNameRoms)
affordanceType = ['Support']
affordanceTypeHand = ['Support', 'Lean']
rbprmBuilder.setAffordanceFilter('SpidermanLFootSphere', affordanceType)
rbprmBuilder.setAffordanceFilter('SpidermanRFootSphere', affordanceType)
rbprmBuilder.setAffordanceFilter('SpidermanLHandSphere', affordanceTypeHand)
rbprmBuilder.setAffordanceFilter('SpidermanRHandSphere', affordanceTypeHand)
#~ rbprmBuilder.setContactSize (0.03,0.08)
#~ rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(ecsSize)
#~ rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,-3.14,3.14])
#~
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = [
'hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [0, 2, -1.4, 1.01, 0, 1.01])
rbprmBuilder.setFilter(['hrp2_larm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom'])
#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support', 'Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support', 'Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
rbprmBuilder.boundSO3([-0.7, 0.7, 0, 0, -0.0, 0.0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver(rbprmBuilder)
rootJointType = 'freeflyer'
packageName = 'talos-rbprm'
meshPackageName = 'talos-rbprm'
urdfName = 'talos_trunk'
urdfNameRom = ['talos_larm_rom','talos_rarm_rom','talos_lleg_rom','talos_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
vMax = omniORB.any.to_any(0.3);
aMax = omniORB.any.to_any(0.1);
#aMax = omniORB.any.to_any(0.3);
extraDof = 6
mu=omniORB.any.to_any(MU)
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-5,5, -1.5, 1.5, 0.95, 1.05])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
rbprmBuilder.setFilter(['talos_lleg_rom','talos_rleg_rom'])
rbprmBuilder.setAffordanceFilter('talos_lleg_rom', ['Support',])
rbprmBuilder.setAffordanceFilter('talos_rleg_rom', ['Support'])
# We also bound the rotations of the torso. (z, y, x)
rbprmBuilder.boundSO3([-0.1,0.1,-0.65,0.65,-0.2,0.2])
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof)
rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([-1,1,-1,1,-2,2,0,0,0,0,0,0])
indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace()
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
# URDF file describing the trunk of the robot HyQ
urdfName = 'hyq_trunk_large'
# URDF files describing the reachable workspace of each limb of HyQ
urdfNameRom = [
'hyq_lhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_rhleg_rom'
]
urdfSuffix = ""
srdfSuffix = ""
vMax = 4
aMax = 5
extraDof = 6
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
#rbprmBuilder.setJointBounds ("base_joint_xyz", [-1.25,2, -0.5, 5.5, 0.6, 1.8])
rbprmBuilder.setJointBounds("base_joint_xyz", [-1.25, 5, 0, 2, 0.45, 1.8])
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact ...
rbprmBuilder.setFilter(
['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_lhleg_rom'])
rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', [
'Support',
])
rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', [
'Support',
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = "freeflyer"
packageName = "hpp-rbprm-corba"
meshPackageName = "hpp-rbprm-corba"
urdfName = "hyq_trunk"
urdfNameRom = ["hyq_lhleg_rom", "hyq_lhleg_rom", "hyq_rfleg_rom", "hyq_rhleg_rom"]
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds("base_joint_xyz", [-1, 4, -1, 1, 0, 2])
rbprmBuilder.setFilter(["hyq_lhleg_rom", "hyq_rfleg_rom"])
# ~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver(rbprmBuilder)
r = Viewer(ps)
q_init = rbprmBuilder.getCurrentConfig()
q_init[0:3] = [-1, 0, 0.4]
rbprmBuilder.setCurrentConfig(q_init)
r(q_init)
# ~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
# ~ q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
