q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['pr2/l_elbow_flex_joint']
q_goal [rank] = -0.5
rank = robot.rankInConfiguration ['pr2/r_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['pr2/r_elbow_flex_joint']
q_goal [rank] = -0.5
rank = robot.rankInConfiguration ['box/base_joint_xyz']
q_goal [rank:rank+3] = [-4.8, -4.6, 0.9]
rank = robot.rankInConfiguration ['box/base_joint_SO3']
q_goal [rank:rank+4] = [0, 0, 0, 1]
# 2}}}
# Create the constraints. {{{2
graph.createGrasp ('l_grasp', 'pr2/l_gripper', 'box/handle', passiveJoints = 'pr2')
graph.createPreGrasp ('l_pregrasp', 'pr2/l_gripper', 'box/handle')
lockbox = ps.lockFreeFlyerJoint ('box/base_joint', 'box_lock', compType = 'Equality')
lockpr2 = ps.lockPlanarJoint ('pr2/base_joint', 'pr2_lock', compType = 'Equality')
lockboth = lockpr2[:]; lockboth.extend (lockbox)
locklhand = ['l_l_finger','l_r_finger'];
ps.createLockedJoint ('l_l_finger', 'pr2/l_gripper_l_finger_joint', [0.5,])
ps.createLockedJoint ('l_r_finger', 'pr2/l_gripper_r_finger_joint', [0.5,])
# 2}}}
# Create the constraint graph. {{{2
# Create nodes and edges. {{{3
graph.createNode (['box', 'free'])
jointNames['baxterLeftSide'].append (n)
if n.startswith ("baxter/right_"):
jointNames['baxterRightSide'].append (n)
elif n.startswith ("box1"):
jointNames["box1"].append (n)
elif n.startswith ("box2"):
jointNames["box2"].append (n)
ps.addPassiveDofs ('box1', jointNames ['box1'])
ps.addPassiveDofs ('box2', jointNames ['box2'])
ps.addPassiveDofs ('baxter', jointNames ['baxter'])
# 4}}}
# Create the grasps {{{4
cg.createGrasp ('l1_grasp', 'baxter/l_gripper', 'box1/handle')
cg.createPreGrasp ('l1_pregrasp', 'baxter/l_gripper', 'box1/handle')
cg.createGrasp ('l2_grasp', 'baxter/l_gripper', 'box2/handle')
cg.createPreGrasp ('l2_pregrasp', 'baxter/l_gripper', 'box2/handle')
cg.createGrasp ('r1_grasp', 'baxter/r_gripper', 'box1/handle2')
cg.createPreGrasp ('r1_pregrasp', 'baxter/r_gripper', 'box1/handle2')
cg.createGrasp ('r2_grasp', 'baxter/r_gripper', 'box2/handle2')
cg.createPreGrasp ('r2_pregrasp', 'baxter/r_gripper', 'box2/handle2')
# 4}}}
# Create placement constraints {{{4
robot.client.manipulation.problem.createPlacementConstraint (
'box1_on_table', ['box1/box_surface'], ['table/pancake_table_table_top'])
robot.client.manipulation.problem.createPrePlacementConstraint (
jointNames['baxterLeftSide'].append (n)
if n.startswith ("baxter/right_"):
jointNames['baxterRightSide'].append (n)
elif n.startswith ("box1"):
jointNames["box1"].append (n)
elif n.startswith ("box2"):
jointNames["box2"].append (n)
ps.addPassiveDofs ('box1', jointNames ['box1'])
ps.addPassiveDofs ('box2', jointNames ['box2'])
ps.addPassiveDofs ('baxter', jointNames ['baxter'])
# 4}}}
# Create the grasps {{{4
cg.createGrasp ('grasp1', 'baxter/r_gripper', 'box1/handle2')
cg.createPreGrasp ('pregrasp1', 'baxter/r_gripper', 'box1/handle2')
cg.createGrasp ('grasp2', 'baxter/r_gripper', 'box2/handle2')
cg.createPreGrasp ('pregrasp2', 'baxter/r_gripper', 'box2/handle2')
# 4}}}
# Create placement constraints {{{4
robot.client.manipulation.problem.createPlacementConstraint (
'box1_on_table', ['box1/box_surface',], ['table/pancake_table_table_top',])
robot.client.manipulation.problem.createPrePlacementConstraint (
'box1_above_table', ['box1/box_surface',],
['table/pancake_table_table_top',], 0.05)
robot.client.manipulation.problem.createPlacementConstraint (
'box2_on_table', ['box2/box_surface',], ['table/pancake_table_table_top',])
robot.client.manipulation.problem.createPrePlacementConstraint (
'box2_above_table', ['box2/box_surface',],
jointNames['all'] = robot.getJointNames ()
jointNames['pr2'] = list ()
jointNames['allButPR2LeftArm'] = list ()
for n in jointNames['all']:
if n.startswith ("pr2"):
jointNames['pr2'].append (n)
if not n.startswith ("pr2/l_gripper"):
jointNames['allButPR2LeftArm'].append (n)
ps.addPassiveDofs ('pr2', jointNames ['pr2'])
cg.createGrasp ('l_grasp', 'pr2/l_gripper', 'box/handle', 'pr2')
cg.createGrasp ('r_grasp', 'pr2/r_gripper', 'box/handle2', 'pr2')
cg.createPreGrasp ('l_pregrasp', 'pr2/l_gripper', 'box/handle')
cg.createPreGrasp ('r_pregrasp', 'pr2/r_gripper', 'box/handle2')
lockbox = ps.lockFreeFlyerJoint ('box/base_joint', 'box_lock')
locklhand = ['l_l_finger','l_r_finger'];
ps.createLockedJoint ('l_l_finger', 'pr2/l_gripper_l_finger_joint', [0.5])
ps.createLockedJoint ('l_r_finger', 'pr2/l_gripper_r_finger_joint', [0.5])
lockrhand = ['r_l_finger','r_r_finger'];
ps.createLockedJoint ('r_l_finger', 'pr2/r_gripper_l_finger_joint', [0.5])
ps.createLockedJoint ('r_r_finger', 'pr2/r_gripper_r_finger_joint', [0.5])
lockhands = lockrhand + locklhand
lockHeadAndTorso = ['head_pan', 'head_tilt', 'torso', 'laser'];
jointNames = dict()
jointNames['all'] = robot.getJointNames()
jointNames['pr2'] = list()
jointNames['allButPR2LeftArm'] = list()
for n in jointNames['all']:
if n.startswith("pr2"):
jointNames['pr2'].append(n)
if not n.startswith("pr2/l_gripper"):
jointNames['allButPR2LeftArm'].append(n)
cg.createGrasp('l_grasp', 'pr2/l_gripper', 'box/handle', jointNames['pr2'])
cg.createGrasp('r_grasp', 'pr2/r_gripper', 'box/handle2', jointNames['pr2'])
cg.createPreGrasp('l_pregrasp', 'pr2/l_gripper', 'box/handle')
cg.createPreGrasp('r_pregrasp', 'pr2/r_gripper', 'box/handle2')
lockbox = p.lockFreeFlyerJoint('box/base_joint', 'box_lock', parametric=True)
locklhand = ['l_l_finger', 'l_r_finger']
p.createLockedDofConstraint('l_l_finger', 'pr2/l_gripper_l_finger_joint', 0.5,
0, 0)
p.createLockedDofConstraint('l_r_finger', 'pr2/l_gripper_r_finger_joint', 0.5,
0, 0)
lockrhand = ['r_l_finger', 'r_r_finger']
p.createLockedDofConstraint('r_l_finger', 'pr2/r_gripper_l_finger_joint', 0.5,
0, 0)
p.createLockedDofConstraint('r_r_finger', 'pr2/r_gripper_r_finger_joint', 0.5,
0, 0)
jointNames['romeoWithoutRightArm'].append (n)
if n.startswith ("kitchen_area"):
jointNames["kitchen_area"].append (n)
if n.startswith ("cup"):
jointNames["cup"].append (n)
ps.addPassiveDofs ('romeo', jointNames ['romeo'])
ps.addPassiveDofs ('romeoWithoutLeftArm', jointNames ['romeoWithoutLeftArm'])
ps.addPassiveDofs ('romeoWithoutRightArm', jointNames ['romeoWithoutRightArm'])
# 4}}}
# Create the grasps {{{4
# cg.createGrasp ('r_fridge_grasp' , 'pr2/r_gripper', Kitchen.handle, 'pr2WithoutRightArm')
# cg.createPreGrasp ('r_fridge_pregrasp', 'pr2/r_gripper', Kitchen.handle, 'pr2WithoutRightArm')
cg.createGrasp ('r_fridge_grasp' , 'romeo/r_gripper', Kitchen.handle)
cg.createPreGrasp ('r_fridge_pregrasp', 'romeo/r_gripper', Kitchen.handle)
# cg.createGrasp ('l_cup_grasp' , 'pr2/l_gripper', Cup.handle, 'pr2WithoutLeftArm')
# cg.createPreGrasp ('l_cup_pregrasp', 'pr2/l_gripper', Cup.handle, 'pr2WithoutLeftArm')
cg.createGrasp ('l_cup_grasp' , 'romeo/l_gripper', Cup.handle, 'romeo')
cg.createPreGrasp ('l_cup_pregrasp', 'romeo/l_gripper', Cup.handle, 'romeo')
# 4}}}
# Locks joints that are not used for this problem {{{4
lockKitchen = list ()
for n in jointNames["kitchen_area"]:
if not n == Kitchen.joint:
ps.createLockedJoint (n, n, [0,])
lockKitchen.append (n)
locklhand = list()
rank = robot.rankInConfiguration['pr2/r_shoulder_lift_joint']
q_goal[rank] = 0.5
rank = robot.rankInConfiguration['pr2/r_elbow_flex_joint']
q_goal[rank] = -0.5
rank = robot.rankInConfiguration['box/base_joint_xyz']
q_goal[rank:rank + 3] = [-4.8, -4.6, 0.9]
rank = robot.rankInConfiguration['box/base_joint_SO3']
q_goal[rank:rank + 4] = [0, 0, 0, 1]
# 2}}}
# Create the constraints. {{{2
graph.createGrasp('l_grasp',
'pr2/l_gripper',
'box/handle',
passiveJoints='pr2')
graph.createPreGrasp('l_pregrasp', 'pr2/l_gripper', 'box/handle')
lockbox = ps.lockFreeFlyerJoint('box/base_joint', 'box_lock')
lockpr2 = ps.lockPlanarJoint('pr2/base_joint', 'pr2_lock')
lockboth = lockpr2[:]
lockboth.extend(lockbox)
locklhand = ['l_l_finger', 'l_r_finger']
ps.createLockedJoint('l_l_finger', 'pr2/l_gripper_l_finger_joint', [
0.5,
])
ps.createLockedJoint('l_r_finger', 'pr2/l_gripper_r_finger_joint', [
0.5,
])
# 2}}}
jointNames['romeoWithoutRightArm'].append(n)
if n.startswith("kitchen_area"):
jointNames["kitchen_area"].append(n)
if n.startswith("cup"):
jointNames["cup"].append(n)
ps.addPassiveDofs('romeo', jointNames['romeo'])
ps.addPassiveDofs('romeoWithoutLeftArm', jointNames['romeoWithoutLeftArm'])
ps.addPassiveDofs('romeoWithoutRightArm', jointNames['romeoWithoutRightArm'])
# 4}}}
# Create the grasps {{{4
# cg.createGrasp ('r_fridge_grasp' , 'pr2/r_gripper', Kitchen.handle, 'pr2WithoutRightArm')
# cg.createPreGrasp ('r_fridge_pregrasp', 'pr2/r_gripper', Kitchen.handle, 'pr2WithoutRightArm')
cg.createGrasp('r_fridge_grasp', 'romeo/r_gripper', Kitchen.handle)
cg.createPreGrasp('r_fridge_pregrasp', 'romeo/r_gripper', Kitchen.handle)
# cg.createGrasp ('l_cup_grasp' , 'pr2/l_gripper', Cup.handle, 'pr2WithoutLeftArm')
# cg.createPreGrasp ('l_cup_pregrasp', 'pr2/l_gripper', Cup.handle, 'pr2WithoutLeftArm')
cg.createGrasp('l_cup_grasp', 'romeo/l_gripper', Cup.handle, 'romeo')
cg.createPreGrasp('l_cup_pregrasp', 'romeo/l_gripper', Cup.handle, 'romeo')
# 4}}}
# Locks joints that are not used for this problem {{{4
lockKitchen = list()
for n in jointNames["kitchen_area"]:
if not n == Kitchen.joint:
ps.createLockedJoint(n, n, [
0,
])
lockKitchen.append(n)
graph = ConstraintGraph (robot, 'graph')
jointNames = dict ()
jointNames['all'] = robot.getJointNames ()
jointNames['hrp2'] = list ()
jointNames['allButHRP2LeftArm'] = list ()
for n in jointNames['all']:
if n.startswith ("hrp2"):
jointNames['hrp2'].append (n)
if not n.startswith ("hrp2/LARM"):
jointNames['allButHRP2LeftArm'].append (n)
ps.addPassiveDofs ('hrp2', jointNames ['hrp2'])
graph.createGrasp ('l_grasp', 'hrp2/leftHand', 'screw_gun/handle2', 'hrp2')
graph.createPreGrasp ('l_pregrasp', 'hrp2/leftHand', 'screw_gun/handle2')
lockscrewgun = ps.lockFreeFlyerJoint ('screw_gun/base_joint', 'screwgun_lock')
locklhand = ['larm_6','lhand_0','lhand_1','lhand_2','lhand_3','lhand_4']
ps.createLockedJoint ('larm_6' , 'hrp2/LARM_JOINT6' , [q_init[ilh],])
ps.createLockedJoint \
('lhand_0', 'hrp2/LHAND_JOINT0', [q_init[ilh + 1],])
ps.createLockedJoint \
('lhand_1', 'hrp2/LHAND_JOINT1', [q_init[ilh + 2],])
ps.createLockedJoint \
('lhand_2', 'hrp2/LHAND_JOINT2', [q_init[ilh + 3],])
ps.createLockedJoint \
('lhand_3', 'hrp2/LHAND_JOINT3', [q_init[ilh + 4],])
ps.createLockedJoint \
('lhand_4', 'hrp2/LHAND_JOINT4', [q_init[ilh + 5],])
jointNames['baxterLeftSide'].append(n)
if n.startswith("baxter/right_"):
jointNames['baxterRightSide'].append(n)
elif n.startswith("box1"):
jointNames["box1"].append(n)
elif n.startswith("box2"):
jointNames["box2"].append(n)
ps.addPassiveDofs('box1', jointNames['box1'])
ps.addPassiveDofs('box2', jointNames['box2'])
ps.addPassiveDofs('baxter', jointNames['baxter'])
# 4}}}
# Create the grasps {{{4
cg.createGrasp('grasp1', 'baxter/r_gripper', 'box1/handle2')
cg.createPreGrasp('pregrasp1', 'baxter/r_gripper', 'box1/handle2')
cg.createGrasp('grasp2', 'baxter/r_gripper', 'box2/handle2')
cg.createPreGrasp('pregrasp2', 'baxter/r_gripper', 'box2/handle2')
# 4}}}
# Create placement constraints {{{4
robot.client.manipulation.problem.createPlacementConstraint(
'box1_on_table', [
'box1/box_surface',
], [
'table/pancake_table_table_top',
])
robot.client.manipulation.problem.createPrePlacementConstraint(
'box1_above_table', [
'box1/box_surface',
jointNames ['tom'] = list ()
for j in robot.jointNames:
if j.startswith ('tom'):
jointNames ['tom'].append (j)
ps.addPassiveDofs ('tom', jointNames ['tom'])
graph.createGrasp ('l2_grasp', 'tom/l_finger_tip', 'box/handle2',
passiveJoints = 'tom')
graph.createGrasp ('l1_grasp', 'tom/l_finger_tip', 'box/handle',
passiveJoints = 'tom')
graph.createGrasp ('r2_grasp', 'tom/r_finger_tip', 'box/handle2',
passiveJoints = 'tom')
graph.createGrasp ('r1_grasp', 'tom/r_finger_tip', 'box/handle',
passiveJoints = 'tom')
graph.createPreGrasp ('l2_pregrasp', 'tom/l_finger_tip', 'box/handle2')
graph.createPreGrasp ('l1_pregrasp', 'tom/l_finger_tip', 'box/handle')
graph.createPreGrasp ('r2_pregrasp', 'tom/r_finger_tip', 'box/handle2')
graph.createPreGrasp ('r1_pregrasp', 'tom/r_finger_tip', 'box/handle')
graph.createWaypointEdge ('free', 'hold_box_l1', 'grasp_box_l1',
nb=1, weight=10)
graph.createWaypointEdge ('free', 'hold_box_l2', 'grasp_box_l2',
nb=1, weight=10)
graph.createWaypointEdge ('free', 'hold_box_r1', 'grasp_box_r1',
nb=1, weight=10)
graph.createWaypointEdge ('free', 'hold_box_r2', 'grasp_box_r2',
nb=1, weight=10)
graph.createEdge ('free', 'free', 'move_free', 1)
graph.createEdge ('hold_box_l1', 'hold_box_l1', 'keep_grasp_l1', 5)
graph.createEdge ('hold_box_l2', 'hold_box_l2', 'keep_grasp_l2', 5)
# Generate constraints {{{3
graph = ConstraintGraph (robot, 'graph')
jointNames = dict ()
jointNames['all'] = robot.getJointNames ()
jointNames['hrp2'] = list ()
jointNames['allButHRP2LeftArm'] = list ()
for n in jointNames['all']:
if n.startswith ("hrp2"):
jointNames['hrp2'].append (n)
if not n.startswith ("hrp2/LARM"):
jointNames['allButHRP2LeftArm'].append (n)
graph.createGrasp ('l_grasp', 'hrp2/leftHand', 'screw_gun/handle2', jointNames ['hrp2'])
graph.createPreGrasp ('l_pregrasp', 'hrp2/leftHand', 'screw_gun/handle2')
lockscrewgun = ps.lockFreeFlyerJoint ('screw_gun/base_joint', 'screwgun_lock')
locklhand = ['larm_6','lhand_0','lhand_1','lhand_2','lhand_3','lhand_4']
ps.createLockedJointConstraint ('larm_6' , 'hrp2/LARM_JOINT6' , [q_init[ilh],])
ps.createLockedJointConstraint \
('lhand_0', 'hrp2/LHAND_JOINT0', [q_init[ilh + 1],])
ps.createLockedJointConstraint \
('lhand_1', 'hrp2/LHAND_JOINT1', [q_init[ilh + 2],])
ps.createLockedJointConstraint \
('lhand_2', 'hrp2/LHAND_JOINT2', [q_init[ilh + 3],])
ps.createLockedJointConstraint \
('lhand_3', 'hrp2/LHAND_JOINT3', [q_init[ilh + 4],])
ps.createLockedJointConstraint \
('lhand_4', 'hrp2/LHAND_JOINT4', [q_init[ilh + 5],])