Python plot_body_com Exemples

Exemple #1

def plotBodyCOM(env, link, handle=None, color=_np.array([0, 1, 0])):
    return _oh.plot_body_com(link, handle, color)

Exemple #2

(env,options)=oh.setup('qtcoin')
env.SetDebugLevel(3)

# Load the environment
[robot, ctrl, ind,ref,recorder]=oh.load_scene(env,options.robotfile,'ladderclimb.env.xml',True)
pose=oh.Pose(robot,ctrl)

print "Position the robot"
pause()
stairs=env.GetKinBody('ladder')
links=stairs.GetLinks()

#Make any adjustments to initial pose here
handles=[]
for k in links:
    handles.append(oh.plot_body_com(k))

grips = makeGripTransforms(links)
griphandles=planning.plotTransforms(env,grips,array([0,0,1]))

# make a list of Link transformations

probs_cbirrt = RaveCreateProblem(env,'CBiRRT')

env.LoadProblem(probs_cbirrt,robot.GetName())

planning.setInitialPose(robot)
oh.sleep(1)

#Define manips used and goals
z1=.05

Exemple #3

Fichier : ladder_grasp.py Projet : daslrobotics/openHubo

(env, options) = oh.setup("qtcoin")
env.SetDebugLevel(3)

# Load the environment
[robot, ctrl, ind, ref, recorder] = oh.load_scene(env, options.robotfile, "ladderclimb.env.xml", True)
pose = oh.Pose(robot, ctrl)

print "Position the robot"
pause()
stairs = env.GetKinBody("ladder")
links = stairs.GetLinks()

# Make any adjustments to initial pose here
handles = []
for k in links:
    handles.append(oh.plot_body_com(k))

grips = makeGripTransforms(links)
griphandles = planning.plotTransforms(env, grips, array([0, 0, 1]))

# make a list of Link transformations

probs_cbirrt = RaveCreateProblem(env, "CBiRRT")

env.LoadProblem(probs_cbirrt, robot.GetName())

planning.setInitialPose(robot)
oh.sleep(1)

# Define manips used and goals
z1 = 0.05

Exemple #4

Fichier : __init__.py Projet : columbia-drc/openHubo

def plotBodyCOM(env,link,handle=None,color=_np.array([0,1,0])):
    return _oh.plot_body_com(link,handle,color)