# 2}}}
# 1}}}
# Initialization. {{{1
# Set parameters. {{{2
robot.client.basic.problem.resetRoadmap ()
robot.client.basic.problem.selectPathOptimizer ('None')
robot.client.basic.problem.setErrorThreshold (1e-3)
robot.client.basic.problem.setMaxIterations (40)
# 2}}}
# Create lists of joint names - useful to define passive joints. {{{2
jointNames = dict ()
jointNames['all'] = robot.getJointNames ()
jointNames['pr2'] = list ()
jointNames['allButPR2LeftArm'] = list ()
for n in jointNames['all']:
if n.startswith ("pr2"):
jointNames['pr2'].append (n)
if not n.startswith ("pr2/l_gripper"):
jointNames['allButPR2LeftArm'].append (n)
ps.addPassiveDofs ('pr2', jointNames['pr2'])
# 2}}}
# Generate initial and goal configuration. {{{2
q_init = robot.getCurrentConfig ()
rank = robot.rankInConfiguration ['pr2/l_gripper_l_finger_joint']
q_init [rank] = 0.5
# 3}}}
robot.client.basic.problem.resetRoadmap()
robot.client.basic.problem.setErrorThreshold(1e-3)
robot.client.basic.problem.setMaxIterProjection(40)
ps.selectPathProjector('Progressive', 0.2)
# Create constraints. {{{3
robot.client.manipulation.problem.createPlacementConstraint \
('box_placement', ['box/box_surface',],
['kitchen_area/pancake_table_table_top',])
jointNames = dict()
jointNames['all'] = robot.getJointNames()
jointNames['pr2'] = list()
jointNames['allButPR2LeftArm'] = list()
for n in jointNames['all']:
if n.startswith("pr2"):
jointNames['pr2'].append(n)
if not n.startswith("pr2/l_gripper"):
jointNames['allButPR2LeftArm'].append(n)
ps.addPassiveDofs('pr2', jointNames['pr2'])
locklhand = ['l_l_finger', 'l_r_finger']
ps.createLockedJoint('l_l_finger', 'pr2/l_gripper_l_finger_joint', [0.5])
ps.createLockedJoint('l_r_finger', 'pr2/l_gripper_r_finger_joint', [0.5])
lockPlanar = ps.lockPlanarJoint("pr2/root_joint", "lockplanar",
[-3.2, -4, 1, 0])
