def __init__(self,planner,limb): CSpace.__init__(self) self.planner = planner self.limb = limb #TODO: what Cartesian bounding box should the planner sample from? self.bound = [(0,1),(0,1)] #TODO: what collision tolerance to use? self.eps = 1e-2
def __init__(self, collider, robot): CSpace.__init__(self) qmin, qmax = robot.getJointLimits() self.bound = [] for i in range(len(qmin)): self.bound.append((qmin[i], qmax[i])) self.eps = 1e-3 self.collider = collider self.robot = robot
def __init__(self,planner,limb): CSpace.__init__(self) self.planner = planner self.limb = limb # set up a search space based on the robot 1 m x 2 m x 2 m (R, t) = self.planner.robot.getLink(0).getParentTransform() self.bound = self.bounds = [(t[0]-1, t[0]+2), (t[1]-2, t[2]+2), (0, 3)] self.eps = 1e-2 self.ignore = None
def __init__(self): CSpace.__init__(self) #set bounds self.bound = [(0.0,1.0),(0.0,1.0)] #set collision checking resolution self.eps = 1e-3 #setup a robot with radius 0.05 self.robot = Circle(0,0,0.05) #set obstacles here self.obstacles = []
def __init__(self): CSpace.__init__(self) #set bounds self.bound = [(0.0,1.0),(0.0,1.0),(0.0,math.pi*2)] #set collision checking resolution self.eps = 1e-3 #setup a bar with length 0.1 self.L = 0.1 #set obstacles here self.obstacles = []
def __init__(self): CSpace.__init__(self) #set bounds self.bound = [(0.0, 1.0), (0.0, 1.0)] #set collision checking resolution self.eps = 1e-3 #setup a robot with radius 0.05 self.robot = Circle(0, 0, 0.05) #set obstacles here self.obstacles = []
def __init__(self): CSpace.__init__(self) #set bounds self.bound = [(0.0, 1.0), (0.0, 1.0), (0.0, math.pi * 2)] #set collision checking resolution self.eps = 1e-3 #setup a bar with length 0.1 self.L = 0.1 #set obstacles here self.obstacles = []
def __init__(self,planner,limb): CSpace.__init__(self) self.planner = planner ''' :type self.planner: LimbPlanner ''' self.limb = limb #TODO: what Cartesian bounding box should the planner sample from? self.bound = [(-pi,pi),(-pi,pi),(-pi,pi),(-pi,pi),(-pi,pi),(-pi,pi),(-pi,pi)] #TODO: what collision tolerance to use? self.eps = 1e-2
def __init__(self,planner): CSpace.__init__(self) self.planner = planner #TODO: what Cartesian bounding box should the planner sample from? self.robot = self.planner.robot id_to_index = dict([(self.robot.link(i).getID(),i) for i in range(self.robot.numLinks())]) qmin,qmax = self.robot.getJointLimits() self.bound = [(qmin[i],qmax[i]) for i in range(self.robot.numLinks())] self.eps = 1e-3
def __init__(self, globals, hand): CSpace.__init__(self) self.globals = globals self.robot = globals.robot self.hand = hand #initial whole-body configuratoin self.q0 = self.robot.getConfig() #setup CSpace sampling range qlimits = zip(*self.robot.getJointLimits()) self.bound = [qlimits[i] for i in self.hand.armIndices] #setup CSpace edge checking epsilon self.eps = 1e-2
def __init__(self,globals,hand): CSpace.__init__(self) self.globals = globals self.robot = globals.robot self.hand = hand #initial whole-body configuratoin self.q0 = self.robot.getConfig() #setup CSpace sampling range qlimits = zip(*self.robot.getJointLimits()) self.bound = [qlimits[i] for i in self.hand.armIndices] #setup CSpace edge checking epsilon self.eps = 1e-2
def __init__(self,planner,limb): CSpace.__init__(self) self.planner = planner self.limb = limb #TODO: what Cartesian bounding box should the planner sample from? self.robot = self.planner.robot id_to_index = dict([(self.robot.link(i).getID(),i) for i in range(self.robot.numLinks())]) if limb=='left': self.limb_indices = [id_to_index[i.getID()] for i in planner.left_arm_links] else: self.limb_indices = [id_to_index[i.getID()] for i in planner.right_arm_links] qmin,qmax = self.robot.getJointLimits() self.bound = [(qmin[i]-1e-6,qmax[i]+1e-6) for i in self.limb_indices] self.eps = 1e-1
def __init__(self,planner,limb): CSpace.__init__(self) self.planner = planner self.limb = limb #TODO: what Cartesian bounding box should the planner sample from? get_limb_config(planner.robot.getConfig(), self.limb) self.setup() self.milestone.getPath self.bound = [(0,1),(0,1)] self.setBounds(self.bound) #TODO: what collision tolerance to use? self.eps = 1e-2
def __init__(self,planner,limb,obj,grasp): CSpace.__init__(self) self.planner = planner self.limb = limb self.object = obj self.grasp = grasp self.objectGeom = obj.info.geometry self.robot = self.planner.robot id_to_index = dict([(self.robot.link(i).getID(),i) for i in range(self.robot.numLinks())]) if limb=='left': self.limb_indices = [id_to_index[i.getID()] for i in planner.left_arm_links] else: self.limb_indices = [id_to_index[i.getID()] for i in planner.right_arm_links] qmin,qmax = self.robot.getJointLimits() self.bound = [(qmin[i]-1e-6,qmax[i]+1e-6) for i in self.limb_indices] self.eps = 1e-1
def __init__(self, planner, limb): CSpace.__init__(self) self.planner = planner self.limb = limb # TODO: what Cartesian bounding box should the planner sample from? self.robot = self.planner.robot id_to_index = dict([(self.robot.link(i).getID(), i) for i in range(self.robot.numLinks())]) if limb == "left": # self.limb_indices = left_arm_geometry_indices + left_hand_geometry_indices self.limb_indices = self.planner.left_arm_indices else: # self.limb_indices = right_arm_geometry_indices + right_hand_geometry_indices self.limb_indices = self.planner.right_arm_indices qmin, qmax = self.robot.getJointLimits() self.bound = [(qmin[i] - 1e-6, qmax[i] + 1e-6) for i in self.limb_indices] self.eps = 1e-1
def __init__(self,globals,hand,object): CSpace.__init__(self) self.globals = globals self.robot = globals.robot self.hand = hand self.object = object #setup initial object-robot transform Thand0 = self.robot.link(hand.link).getTransform() Tobj0 = object.getTransform() self.Tgrasp = se3.mul(se3.inv(Thand0),Tobj0) #initial whole-body configuratoin self.q0 = self.robot.getConfig() #setup CSpace sampling range qlimits = zip(*self.robot.getJointLimits()) self.bound = [qlimits[i] for i in self.hand.armIndices] #setup CSpace edge checking epsilon self.eps = 1e-2
def __init__(self, globals, hand, object): CSpace.__init__(self) self.globals = globals self.robot = globals.robot self.hand = hand self.object = object #setup initial object-robot transform Thand0 = self.robot.link(hand.link).getTransform() Tobj0 = object.getTransform() self.Tgrasp = se3.mul(se3.inv(Thand0), Tobj0) #initial whole-body configuratoin self.q0 = self.robot.getConfig() #setup CSpace sampling range qlimits = zip(*self.robot.getJointLimits()) self.bound = [qlimits[i] for i in self.hand.armIndices] #setup CSpace edge checking epsilon self.eps = 1e-2
def __init__(self): CSpace.__init__(self) self.extra_feasibility_tests = []