meshPackageName = 'hpp_tutorial'
urdfName = 'box'
urdfSuffix = ""
srdfSuffix = ""
class Environment(object):
packageName = 'iai_maps'
meshPackageName = 'iai_maps'
urdfName = 'kitchen_area'
urdfSuffix = ""
srdfSuffix = ""
# Load robot and object. {{{3
robot = Robot('pr2-box', 'pr2') # was anchor joint
ps = ProblemSolver(robot)
vf = ViewerFactory(ps)
vf.loadObjectModel(Box, 'box')
vf.loadEnvironmentModel(Environment, "kitchen_area")
robot.setJointBounds("pr2/root_joint", [-5, -2, -5.2, -2.7])
robot.setJointBounds("box/root_joint", [-5.1, -2, -5.2, -2.7, 0, 1.5])
# 3}}}
# Define configurations. {{{3
q_init = robot.getCurrentConfig()
q_init[0:4] = [-3.2, -4, 1, 0] # FIX ME ! (see up )
rank = robot.rankInConfiguration['pr2/r_gripper_l_finger_joint']
q_init[rank] = 0.5
rank = robot.rankInConfiguration['pr2/r_gripper_r_finger_joint']
packageName = 'hpp_tutorial'
meshPackageName = 'hpp_tutorial'
urdfName = 'box'
urdfSuffix = ""
srdfSuffix = ""
class Environment(object):
packageName = 'iai_maps'
meshPackageName = 'iai_maps'
urdfName = 'kitchen_area'
urdfSuffix = ""
srdfSuffix = ""
robot = Robot('pr2-box', 'pr2')
ps = ProblemSolver(robot)
## ViewerFactory is a class that generates Viewer on the go. It means you can
## restart the server and regenerate a new windows.
## To generate a window:
## vf.createRealClient ()
vf = ViewerFactory(ps)
vf.loadObjectModel(Box, 'box')
vf.loadEnvironmentModel(Environment, "kitchen_area")
robot.setJointBounds("pr2/root_joint", [-5, -2, -5.2, -2.7, -2, 2, -2, 2])
robot.setJointBounds(
"box/root_joint",
[-5.1, -2, -5.2, -2.7, 0, 1.5, -2, 2, -2, 2, -2, 2, -2, 2])
# 2}}}
# vim: foldmethod=marker foldlevel=2
from hpp.corbaserver.manipulation.pr2 import Robot
from math import sqrt
# Load robot and object. {{{3
robot = Robot('pr2', rootJointType="anchor")
robot.client.manipulation.robot.setRootJointPosition('pr2',
(-3.2, -4, 0, 1, 0, 0, 0))
robot.loadObjectModel('box', 'freeflyer', 'hpp_tutorial', 'box', '', '')
robot.buildCompositeRobot('pr2-box', ['pr2', 'box'])
robot.client.manipulation.robot.loadEnvironmentModel("iai_maps",
"kitchen_area", '', '',
"")
robot.setJointBounds("box/base_joint_xyz", [-3, -2, -5, -3, 0.7, 1])
# 3}}}
from hpp_ros.manipulation import ScenePublisher
r = ScenePublisher(robot)
# Define configurations. {{{3
q_init = robot.getCurrentConfig()
rank = robot.rankInConfiguration['pr2/r_gripper_l_finger_joint']
q_init[rank] = 0.5
rank = robot.rankInConfiguration['pr2/r_gripper_r_finger_joint']
q_init[rank] = 0.5
rank = robot.rankInConfiguration['pr2/l_gripper_l_finger_joint']
q_init[rank] = 0.5
rank = robot.rankInConfiguration['pr2/l_gripper_r_finger_joint']
q_init[rank] = 0.5
rank = robot.rankInConfiguration['pr2/torso_lift_joint']
q_init[rank] = 0.2
class Box(object):
rootJointType = "freeflyer"
packageName = "hpp_tutorial"
urdfName = "box"
urdfSuffix = ""
srdfSuffix = ""
class Environment(object):
packageName = "hpp_tutorial"
urdfName = "kitchen_area"
urdfSuffix = ""
srdfSuffix = ""
robot = Robot("pr2-box", "pr2")
ps = ProblemSolver(robot)
# ViewerFactory is a class that generates Viewer on the go. It means you can
# restart the server and regenerate a new windows.
# To generate a window:
# vf.createViewer ()
vf = ViewerFactory(ps)
vf.loadObjectModel(Box, "box")
vf.loadEnvironmentModel(Environment, "kitchen_area")
robot.setJointBounds("pr2/root_joint", [-5, -2, -5.2, -2.7])
robot.setJointBounds("box/root_joint", [-5.1, -2, -5.2, -2.7, 0, 1.5])
# Initialization.
