Python Robot.setJointBoundsの例

コード例 #1

ファイル: tutorial_1.py プロジェクト: humanoid-path-planner/hpp_tutorial

from hpp.corbaserver.pr2 import Robot
robot = Robot ('pr2')
robot.setJointBounds ("root_joint", [-4, -3, -5, -3])

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver (robot)

from hpp.gepetto import ViewerFactory
vf = ViewerFactory (ps)

q_init = robot.getCurrentConfig ()
q_goal = q_init [::]
q_init [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['torso_lift_joint']
q_init [rank] = 0.2
vf (q_init)

q_goal [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['l_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['l_elbow_flex_joint']
q_goal [rank] = -0.5
rank = robot.rankInConfiguration ['r_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['r_elbow_flex_joint']
q_goal [rank] = -0.5
vf (q_goal)

vf.loadObstacleModel ("iai_maps", "kitchen_area", "kitchen")

ps.setInitialConfig (q_init)

コード例 #2

ファイル: tutorial_2.py プロジェクト: anna-seppala/hpp_tutorial

from hpp.corbaserver.pr2 import Robot
robot = Robot ('pr2')
robot.setJointBounds ("base_joint_xy", [-4, -3, -5, -3])

from hpp_ros import ScenePublisher
r = ScenePublisher (robot)

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver (robot)

q_init = robot.getCurrentConfig ()
q_goal = q_init [::]
q_init [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['torso_lift_joint']
q_init [rank] = 0.2
r (q_init)

q_goal [0:2] = [-3.2, -4]
rank = robot.rankInConfiguration ['l_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['l_elbow_flex_joint']
q_goal [rank] = -0.5
rank = robot.rankInConfiguration ['r_shoulder_lift_joint']
q_goal [rank] = 0.5
rank = robot.rankInConfiguration ['r_elbow_flex_joint']
q_goal [rank] = -0.5
r (q_goal)

ps.loadObstacleFromUrdf ("iai_maps", "kitchen_area", "")

ps.setInitialConfig (q_init)

コード例 #3

ファイル: tutorial_1.py プロジェクト: EricWang1hitsz/hpp_source_code

from hpp.corbaserver.pr2 import Robot
robot = Robot('pr2')
robot.setJointBounds("root_joint", [-4, -3, -5, -3])

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver(robot)

from hpp.gepetto import ViewerFactory
vf = ViewerFactory(ps)

q_init = robot.getCurrentConfig()
q_goal = q_init[::]
q_init[0:2] = [-3.2, -4]
rank = robot.rankInConfiguration['torso_lift_joint']
q_init[rank] = 0.2

q_goal[0:2] = [-3.2, -4]
rank = robot.rankInConfiguration['l_shoulder_lift_joint']
q_goal[rank] = 0.5
rank = robot.rankInConfiguration['l_elbow_flex_joint']
q_goal[rank] = -0.5
rank = robot.rankInConfiguration['r_shoulder_lift_joint']
q_goal[rank] = 0.5
rank = robot.rankInConfiguration['r_elbow_flex_joint']
q_goal[rank] = -0.5

vf.loadObstacleModel("iai_maps", "kitchen_area", "kitchen")

ps.setInitialConfig(q_init)
ps.addGoalConfig(q_goal)