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',
])
# We also bound the rotations of the torso. (z, y, x)
#~ 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 [::]
q_goal [0:3] = [-9, -0.65, 1.25]; r (q_goal)
# 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 )
r = Viewer (ps)
#~ 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 [::]
q_goal [0:3] = [-9, -0.65, 1.25]; r (q_goal)