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)
# 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,])
## Create nodes and edges
# Warning the order of the nodes is important. When checking in which node
# a configuration lies, node constraints will be checked in the order of node