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)
lockhands = ['l_l_finger', 'l_r_finger', 'r_l_finger', 'r_r_finger']
# 3}}}
# Create the graph. {{{3
robot.client.basic.problem.resetRoadmap ()
robot.client.basic.problem.selectPathOptimizer ('None')
robot.client.basic.problem.setMaxIterations (40)
r = MultiRobotPub (robot)
half_sitting = robot.getCurrentConfig ();
qinit=[0,0,0,0,0,0,0, 0.5,0,1,0,0,0]
qgoal=[0,0,0,0,0,0,0,-0.5,0,1,0,0,0]
p = ProblemSolver (robot)
p.createGrasp ('grasp', 'ur5/ee', 'box/handle')
p.createGrasp ('grasp-passive', 'ur5/ee', 'box/handle')
if withWaypoint:
p.createPreGrasp ('pregrasp', 'ur5/ee', 'box/handle')
p.createLockedDofConstraint ('box_lock_x' , 'box/base_joint_x' , 0, 0, 0)
p.createLockedDofConstraint ('box_lock_y' , 'box/base_joint_y' , 0, 0, 0)
p.createLockedDofConstraint ('box_lock_z' , 'box/base_joint_z' , 0, 0, 0)
p.createLockedDofConstraint ('box_lock_rx', 'box/base_joint_SO3', 0, 1, 0)
p.createLockedDofConstraint ('box_lock_ry', 'box/base_joint_SO3', 0, 2, 1)
p.createLockedDofConstraint ('box_lock_rz', 'box/base_joint_SO3', 0, 3, 2)
p.isLockedDofParametric ('box_lock_x' ,True)
p.isLockedDofParametric ('box_lock_y' ,True)
p.isLockedDofParametric ('box_lock_z' ,True)
p.isLockedDofParametric ('box_lock_rx',True)
p.isLockedDofParametric ('box_lock_ry',True)
p.isLockedDofParametric ('box_lock_rz',True)
lockbox = ['box_lock_x', 'box_lock_y', 'box_lock_z', 'box_lock_rx', 'box_lock_ry', 'box_lock_rz']
jointNames = dict ()
jointNames['all'] = robot.getJointNames ()
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)
lockhands = ['l_l_finger','l_r_finger','r_l_finger','r_r_finger'];
# 3}}}
# Create the graph. {{{3
cg.createNode (['both', 'right', 'left', 'free'])
cg.setConstraints (node='free', numConstraints=['box_placement'])
-0.020779247681766293, 0.026905347698115048, -0.00494217897984072,
-0.0011303560351055939, 0.007923626259361372, -0.05448958126663155,
-0.019807309704424767, 0.02612488205235436, -0.004939666182290102,
1.9999999999999933, -0.009968182216395699, 0.3399077826251962,
0.8920410834920809, 0.03081996727219969, -0.37686669705702674,
-0.2475567159843218
]
#qgoal=
p = ProblemSolver(robot)
p.createPreGrasp('left-hand-pregrasp', 'hrp2/leftHand', 'screw_gun/handle2')
p.createPreGrasp('left-hand-pregrasp-passive', 'hrp2/leftHand',
'screw_gun/handle2')
p.createGrasp('left-hand-grasp', 'hrp2/leftHand', 'screw_gun/handle2')
p.createGrasp('left-hand-grasp-passive', 'hrp2/leftHand', 'screw_gun/handle2')
p.createLockedDofConstraint('screwgun_lock_x', 'screw_gun/base_joint_x', 0, 0,
0)
p.createLockedDofConstraint('screwgun_lock_y', 'screw_gun/base_joint_y', 0, 0,
0)
p.createLockedDofConstraint('screwgun_lock_z', 'screw_gun/base_joint_z', 0, 0,
0)
p.createLockedDofConstraint('screwgun_lock_rx', 'screw_gun/base_joint_SO3', 0,
1, 0)
p.createLockedDofConstraint('screwgun_lock_ry', 'screw_gun/base_joint_SO3', 0,
2, 1)
p.createLockedDofConstraint('screwgun_lock_rz', 'screw_gun/base_joint_SO3', 0,
3, 2)
p.createLockedDofConstraint('larm_6', 'hrp2/LARM_JOINT6', q1[17], 0, 0)
p.createLockedDofConstraint('lhand_0', 'hrp2/LHAND_JOINT0', q1[18], 0, 0)
p.createLockedDofConstraint('lhand_1', 'hrp2/LHAND_JOINT1', q1[19], 0, 0)
p.createLockedDofConstraint('lhand_2', 'hrp2/LHAND_JOINT2', q1[20], 0, 0)
p.createLockedDofConstraint('lhand_3', 'hrp2/LHAND_JOINT3', q1[21], 0, 0)
robot.client.basic.problem.resetRoadmap()
robot.client.basic.problem.selectPathOptimizer('None')
robot.client.basic.problem.setMaxIterations(40)
r = MultiRobotPub(robot)
half_sitting = robot.getCurrentConfig()
qinit = [0, 0, 0, 0, 0, 0, 0, 0.5, 0, 1, 0, 0, 0]
qgoal = [0, 0, 0, 0, 0, 0, 0, -0.5, 0, 1, 0, 0, 0]
p = ProblemSolver(robot)
p.createGrasp('grasp', 'ur5/ee', 'box/handle')
p.createGrasp('grasp-passive', 'ur5/ee', 'box/handle')
if withWaypoint:
p.createPreGrasp('pregrasp', 'ur5/ee', 'box/handle')
p.createLockedDofConstraint('box_lock_x', 'box/base_joint_x', 0, 0, 0)
p.createLockedDofConstraint('box_lock_y', 'box/base_joint_y', 0, 0, 0)
p.createLockedDofConstraint('box_lock_z', 'box/base_joint_z', 0, 0, 0)
p.createLockedDofConstraint('box_lock_rx', 'box/base_joint_SO3', 0, 1, 0)
p.createLockedDofConstraint('box_lock_ry', 'box/base_joint_SO3', 0, 2, 1)
p.createLockedDofConstraint('box_lock_rz', 'box/base_joint_SO3', 0, 3, 2)
p.isLockedDofParametric('box_lock_x', True)
p.isLockedDofParametric('box_lock_y', True)
p.isLockedDofParametric('box_lock_z', True)
p.isLockedDofParametric('box_lock_rx', True)
p.isLockedDofParametric('box_lock_ry', True)
p.isLockedDofParametric('box_lock_rz', True)
lockbox = [
'box_lock_x', 'box_lock_y', 'box_lock_z', 'box_lock_rx', 'box_lock_ry',
'box_lock_rz'
]
r = MultiRobotPub (robot)
half_sitting = robot.getCurrentConfig ();
q1=[0.2561522768052704, 0.009968182216397095, -0.0013343337623661373, 0.9822200021750263, -0.01324065709811156, 0.06488994582367685, 0.1756640181081545, 0.3518980306918394, 0.5587732909530961, -0.00014707196704839167, 0.003348199890377334, 0.2851538622381365, 0.019515985023849783, 0.47568241804625144, 0.034325840512149174, 0.48238375657832383, 0.5252200250587239, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.08183778724042397, -0.002329068502171773, 0.0013672024871911833, -0.03184796508559784, 0.00013468971902929027, -0.006463660186047965, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.0014454298679420635, 0.008692815372600783, -0.17944952816665183, -0.0349066, 0.08186718484328222, -0.0052176502711966674, -0.0014458867527617663, 0.008689383322591662, -0.1789250482962942, -0.0349066, 0.0813567181568653, -0.00521418794593098, -1.0, -0.009968182216397, 0.3399077826256168, 0.8920410834920809, 0.03081996727219969, -0.37686669705702674, -0.2475567159843218]
q2=[0.2561522768052704, 0.009968182216397094, -0.0013343337623677983, 0.9822200021750275, -0.013240657098102699, 0.06488994582365894, 0.17566401810815518, 0.3518980306918404, 0.5587732909530987, -0.00014707196704828986, 0.003348199890377807, 0.2851538622381267, 0.019515985023862044, 0.4756824180462511, 0.03432584051214365, 0.48238375657832383, 0.5252200250587228, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.08183778724043055, -0.0023290685021591065, 0.0013672024871913863, -0.03184796508560018, 0.00013468971902932646, -0.006463660186048368, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.001445429867963691, 0.008692815372566085, -0.17944952816666074, -0.0349066, 0.08186718484332876, -0.00521765027117088, -0.0014458867527830789, 0.008689383322556907, -0.17892504829630115, -0.0349066, 0.08135671815690743, -0.005214187945905259, 1.0, -0.009968182216397, 0.3399077826256168, 0.8920410834920809, 0.03081996727219969, -0.37686669705702674, -0.2475567159843218]
q3=[0.2561522768052704, 0.009968182216397017, -0.0013072533849402136, 0.9822384333854748, -0.01312068217341367, 0.06461437559545073, 0.17567154051286343, 0.35191845881842604, 0.5584191613132159, -0.00014417077050741273, 0.003264525687460523, 0.2869014360284614, 0.01968512963006628, 0.47563871278773184, 0.0349066, 0.4823374727974044, 0.5253128675582199, 0.00028141477557467405, -9.224156430856334e-05, 9.57339438119022e-05, 0.00043012512285501805, 9.464640215865539e-05, -0.00027454688131241776, -0.08070554282100409, -0.0022150673918241194, 0.0013507126487957277, -0.031445080182081316, 0.00013303660804169588, -0.0063951082465386055, 0.00018071522532470678, -7.008398345853373e-05, 0.0001432918466161822, 5.0663492959904484e-05, 5.932458587315774e-05, -0.0001501990824631989, -0.0016207277515218107, 0.008331445043308924, -0.1782202190053313, -0.0349066, 0.08120820667180957, -0.004973436857255375, -0.0016211611493169267, 0.008328178972275535, -0.17768239866563243, -0.03490564559358417, 0.08066263806839956, -0.00497014215842449, -0.2561522768052704, -0.009968182216396924, 0.33990778262561817, 0.8920410834920809, 0.03081996727219969, -0.37686669705702674, -0.2475567159843218]
qinit=[6.351445422051578e-15, -7.64857075802911e-16, -0.00010650933265040068, 0.9997086753828088, -0.001462864329132029, 0.024091994398753543, 1.4078154478767463e-05, -0.00040620371503693694, 0.06720468781884271, 0.09997150487212819, 0.10619128937732075, -0.030984458364104503, 0.06768151515542697, -9.21491333147205e-05, -0.007395092069129794, 4.108678412429508e-05, 0.09687147183171207, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.030157742792904667, -0.06148082407263112, 0.000178380167127975, -0.006607688410387017, 7.424531689237967e-05, 0.00026391550679217136, 0.0003776033936788175, 0.000250194383634261, -0.0005725514027501679, 6.818331370664385e-05, -0.00020049176175900826, 0.0004808871166639079, -0.0011302430393443214, 0.00792613666021656, -0.05431204743596144, -0.020779247681766293, 0.026905347698115048, -0.00494217897984072, -0.0011303560351055939, 0.007923626259361372, -0.05448958126663155, -0.019807309704424767, 0.02612488205235436, -0.004939666182290102, 1.9999999999999933, -0.009968182216395699, 0.3399077826251962, 0.8920410834920809, 0.03081996727219969, -0.37686669705702674, -0.2475567159843218]
#qgoal=
p = ProblemSolver (robot)
p.createPreGrasp ('left-hand-pregrasp', 'hrp2/leftHand', 'screw_gun/handle2')
p.createPreGrasp ('left-hand-pregrasp-passive', 'hrp2/leftHand', 'screw_gun/handle2')
p.createGrasp ('left-hand-grasp', 'hrp2/leftHand', 'screw_gun/handle2')
p.createGrasp ('left-hand-grasp-passive', 'hrp2/leftHand', 'screw_gun/handle2')
p.createLockedDofConstraint ('screwgun_lock_x' , 'screw_gun/base_joint_x' , 0, 0, 0)
p.createLockedDofConstraint ('screwgun_lock_y' , 'screw_gun/base_joint_y' , 0, 0, 0)
p.createLockedDofConstraint ('screwgun_lock_z' , 'screw_gun/base_joint_z' , 0, 0, 0)
p.createLockedDofConstraint ('screwgun_lock_rx', 'screw_gun/base_joint_SO3', 0, 1, 0)
p.createLockedDofConstraint ('screwgun_lock_ry', 'screw_gun/base_joint_SO3', 0, 2, 1)
p.createLockedDofConstraint ('screwgun_lock_rz', 'screw_gun/base_joint_SO3', 0, 3, 2)
p.createLockedDofConstraint ('larm_6' , 'hrp2/LARM_JOINT6' , q1[17], 0, 0)
p.createLockedDofConstraint ('lhand_0', 'hrp2/LHAND_JOINT0', q1[18], 0, 0)
p.createLockedDofConstraint ('lhand_1', 'hrp2/LHAND_JOINT1', q1[19], 0, 0)
p.createLockedDofConstraint ('lhand_2', 'hrp2/LHAND_JOINT2', q1[20], 0, 0)
p.createLockedDofConstraint ('lhand_3', 'hrp2/LHAND_JOINT3', q1[21], 0, 0)
p.createLockedDofConstraint ('lhand_4', 'hrp2/LHAND_JOINT4', q1[22], 0, 0)
p.isLockedDofParametric ('screwgun_lock_x' ,True)
p.isLockedDofParametric ('screwgun_lock_y' ,True)
p.isLockedDofParametric ('screwgun_lock_z' ,True)
p.isLockedDofParametric ('screwgun_lock_rx',True)
