def makeRobotProblemAndViewerFactory(corbaclient):
robot = Robot("dev",
"talos",
rootJointType="freeflyer",
client=corbaclient)
robot.leftAnkle = "talos/leg_left_6_joint"
robot.rightAnkle = "talos/leg_right_6_joint"
robot.setJointBounds("talos/root_joint", [-1, 1, -1, 1, 0.5, 1.5])
ps = ProblemSolver(robot)
ps.setRandomSeed(123)
ps.selectPathProjector("Progressive", 0.2)
ps.setErrorThreshold(1e-3)
ps.setMaxIterProjection(40)
ps.addPathOptimizer("SimpleTimeParameterization")
vf = ViewerFactory(ps)
vf.loadObjectModel(Object, "box")
robot.setJointBounds("box/root_joint", [-1, 1, -1, 1, 0, 2])
vf.loadEnvironmentModel(Table, "table")
return robot, ps, vf
rootJointType = 'freeflyer'
packageName = 'hpp_tutorial'
meshPackageName = 'hpp_tutorial'
urdfName = 'cup'
urdfSuffix = ""
srdfSuffix = ""
handles = [ "box/top", "box/bottom" ]
robot = Robot ('dev', 'talos', rootJointType = "freeflyer")
robot. leftAnkle = "talos/leg_left_6_joint"
robot.rightAnkle = "talos/leg_right_6_joint"
robot.setJointBounds ("talos/root_joint", [-1, 1, -1, 1, 0.5, 1.5])
ps = ProblemSolver (robot)
ps.setRandomSeed(123)
ps.selectPathProjector("Progressive", 0.2)
ps.setErrorThreshold (1e-3)
ps.setMaxIterProjection (40)
ps.addPathOptimizer("SimpleTimeParameterization")
vf = ViewerFactory (ps)
Object = Box
vf.loadObjectModel (Object, 'box')
robot.setJointBounds ("box/root_joint", [-1, 1, -1, 1, 0, 2])
qq = [-0.7671778026566639, 0.0073267002287253635, 1.0035168727631776, -0.003341673452654457, -0.021566597515109524, 0.0002183620894239602, 0.9997618053357284, -0.00020053128587844821, -0.0021365695604276275, -0.4415951773681094, 0.9659230706255528, -0.48119003672520416, 0.007109157982067145, -0.00020095991543181877, -0.002126639473414498, -0.4382848597339842, 0.9589221865248464, -0.4774994711722908, 0.007099218648561522, 0.0, 0.025235347910697536, -0.06985947194357875, 0.0, -0.12446173084176845, -1.5808415926365578, 0.014333078135875619, -0.0806417043955706, -0.37124401660668394, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.25955282922987977, -0.1618313202464181, 0.002447883426630002, -0.5149037074691503, -0.00010703274362664899, 0.0008742582163227642, 0.10168585913285667, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.785398163397, 0.32250041955468695, -0.2569883469655496, 0.18577095561452217, 1.164388709412583, 0.0694401264431558, 0.5475575114527793, -0.11842286843715424, 0.8254301089264399]
half_sitting = [
-0.74,0,1.0192720229567027,0,0,0,1, # root_joint
constraints=Constraints(numConstraints=com_constraint +
foot_placement + arm_locked))
graph.initialize()
ps.setParameter("SimpleTimeParameterization/safety", 0.5)
ps.setParameter("SimpleTimeParameterization/order", 2)
ps.setParameter("SimpleTimeParameterization/maxAcceleration", .25)
ps.addPathOptimizer("RandomShortcut")
ps.addPathOptimizer("SimpleTimeParameterization")
res, q, err = graph.generateTargetConfig("starting_motion", initConf, initConf)
if not res:
raise RuntimeError('Failed to project initial configuration')
ps.setRandomSeed(54)
ps.setInitialConfig(initConf)
ps.addGoalConfig(q)
ps.solve()
# Delete intermediate non optimized paths
for i in range(ps.numberPaths() - 1):
ps.erasePath(0)
# Generate N random configurations
N = args.N
if N != 0:
configs = [q[::]]
configs += shootRandomConfigs(ps, graph, configs[0], N)
configs = orderConfigurations(ps, configs)
configs.append(initConf)
else:
