from math import sqrt
from hpp import Transform
from manipulation import robot, vf, ConstraintGraph, ps, Ground, Box, Pokeball, PathPlayer, gripperName, ballName
vf.loadEnvironmentModel (Ground, 'ground')
vf.loadEnvironmentModel (Box, 'box')
vf.moveObstacle ('box/base_link_0', [0.3+0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle ('box/base_link_1', [0.3-0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle ('box/base_link_2', [0.3, 0.04, 0.04, 1, 0, 0, 0])
vf.moveObstacle ('box/base_link_3', [0.3, -0.04, 0.04, 1, 0, 0, 0])
vf.loadObjectModel (Pokeball, 'pokeball')
robot.setJointBounds ('pokeball/base_joint_xyz', [-.4,.4,-.4,.4,-.1,1.])
r = vf.createViewer ()
q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 1, 0, 0, 0]
r (q1)
## Create graph
graph = ConstraintGraph (robot, 'graph')
gripperAboveBall = (0, 0, 0.15, 0, -sqrt (2)/2, -sqrt (2)/2, 0)
ballAboveGround = [0, 0, 0.1, 1, 0, 0, 0]
## Create your own graph here
pp = PathPlayer (ps.client.basic, r)
from math import sqrt
from hpp import Transform
from manipulation import robot, vf, ConstraintGraph, ps, Ground, Box, Pokeball, PathPlayer, gripperName, ballName
vf.loadEnvironmentModel(Ground, 'ground')
vf.loadEnvironmentModel(Box, 'box')
vf.moveObstacle('box/base_link_0', [0.3 + 0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle('box/base_link_1', [0.3 - 0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle('box/base_link_2', [0.3, 0.04, 0.04, 1, 0, 0, 0])
vf.moveObstacle('box/base_link_3', [0.3, -0.04, 0.04, 1, 0, 0, 0])
vf.loadObjectModel(Pokeball, 'pokeball')
robot.setJointBounds('pokeball/base_joint_xyz', [-.4, .4, -.4, .4, -.1, 1.])
r = vf.createViewer()
q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 1, 0, 0, 0]
r(q1)
## Create graph
graph = ConstraintGraph(robot, 'graph')
gripperAboveBall = (0, 0, 0.15, 0, -sqrt(2) / 2, -sqrt(2) / 2, 0)
ballAboveGround = [0, 0, 0.1, 1, 0, 0, 0]
## Create your own graph here
pp = PathPlayer(ps.client.basic, r)
from hpp import Transform
from hpp.corbaserver.manipulation import ConstraintGraph
from manipulation import robot, vf, ps, Ground, Box, Pokeball, PathPlayer, gripperName, ballName
# Loading & installing our working environment
vf.loadEnvironmentModel (Ground, 'ground')
vf.loadEnvironmentModel (Box, 'box')
vf.moveObstacle ('box/base_link_0', [0.3+0.04, 0, 0.04, 0, 0, 0, 1])
vf.moveObstacle ('box/base_link_1', [0.3-0.04, 0, 0.04, 0, 0, 0, 1])
vf.moveObstacle ('box/base_link_2', [0.3, 0.04, 0.04, 0, 0, 0, 1])
vf.moveObstacle ('box/base_link_3', [0.3, -0.04, 0.04, 0, 0, 0, 1])
# Loading our pokeball which plays our ball's role
vf.loadObjectModel (Pokeball, 'pokeball')
robot.setJointBounds ('pokeball/root_joint', [-.4,.4,-.4,.4,-.1,1.,
-1.0001, 1.0001,-1.0001, 1.0001,
-1.0001, 1.0001,-1.0001, 1.0001,])
r = vf.createViewer ()
q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 0, 0, 0, 1]
r (q1)
## Create graph
graph = ConstraintGraph (robot, 'graph')
# Contraint of ball relative position while it is located in the gripper
ballInGripper = [0, .137, 0, 0.5, 0.5, -0.5, 0.5]
ps.createTransformationConstraint ('grasp', gripperName, ballName,
ballInGripper, 6*[True,])
from manipulation import PathPlayer # noqa: F401
Client().problem.resetProblem()
vf.loadEnvironmentModel(Ground, "ground")
vf.loadObjectModel(Pokeball, "pokeball")
robot.setJointBounds(
"pokeball/root_joint",
[
-0.4,
0.4,
-0.4,
0.4,
-0.1,
2.0,
-1.0001,
1.0001,
-1.0001,
1.0001,
-1.0001,
1.0001,
-1.0001,
1.0001,
],
)
q1 = [0, -1.57, 1.57, 0, 0, 0, 0.3, 0, 0.025, 0, 0, 0, 1]
# Create constraint graph
graph = ConstraintGraph(robot, "graph")