Python Robot.loadObjectModel 예제들

예제 #1

# 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

예제 #2

파일: test_graph_two_hands.py 프로젝트: florent-lamiraux/test-hpp

# 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
q_goal = q_init [::]

rank = robot.rankInConfiguration ['box/base_joint_xyz']