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',
])
# 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(
[-vMax, vMax, -1, 1, -2, 2, 0, 0, 0, 0, 0, 0])
# Creating an instance of HPP problem solver and the viewer
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
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. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver(rbprmBuilder)
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',
])
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
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_rhleg_rom']) # , 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom'])
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
ps = ProblemSolver(rbprmBuilder)
r = Viewer(ps)
r.loadObstacleModel(packageName, "darpa", "planning")
# Setting initial and goal configurations
q_init = rbprmBuilder.getCurrentConfig()
q_init[0:3] = [-2, 0, 0.63]
rbprmBuilder.setCurrentConfig(q_init)
r(q_init)
# 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
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
r.loadObstacleModel (packageName, "darpa", "planning")
# Setting initial and goal configurations
q_init = rbprmBuilder.getCurrentConfig ();
q_init [0:3] = [-2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
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()
# Creating an instance of HPP problem solver and the viewer
ps = ProblemSolver( rbprmBuilder )
ps.client.problem.setParameter("aMax",aMax)
ps.client.problem.setParameter("vMax",vMax)
ps.client.problem.setParameter("sizeFootX",omniORB.any.to_any(0.2))
ps.client.problem.setParameter("sizeFootY",omniORB.any.to_any(0.12))
ps.client.problem.setParameter("friction",mu)
'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])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver(rbprmBuilder)
r = Viewer(ps)
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)
q_goal = q_init [::]
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(
"hyq_rfleg_rom",
[
"Support",
],
)
rbprmBuilder.setAffordanceFilter("hyq_lhleg_rom", ["Support", "Lean"])
rbprmBuilder.setAffordanceFilter(
"hyq_lfleg_rom",
[
"Support",
],
)
# We also bound the rotations of the torso.
rbprmBuilder.boundSO3([-0.4, 0.4, -3, 3, -3, 3])
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
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
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)
ps.client.problem.setParameter("sizeFootX",0.24)
ps.client.problem.setParameter("sizeFootY",0.14)
r = Viewer (ps)
'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])
#~
#~ 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)
q_init = rbprmBuilder.getCurrentConfig()
