urdfSuffix = "" srdfSuffix = "" # Creating an instance of the helper class, and loading the robot rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [-3,6, -2, 3, 0.3, 4]) # The following lines set constraint on the valid configurations: # a configuration is valid only if all limbs can create a contact ... rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom']) rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', ['Support',]) rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', ['Support',]) # We also bound the rotations of the torso. rbprmBuilder.boundSO3([-1,1,-3,3,-3,3]) # Creating an instance of HPP problem solver and the viewer from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver( rbprmBuilder ) r = Viewer (ps) # Setting initial and goal configurations q_init = rbprmBuilder.getCurrentConfig (); q_init [0:3] = [-2.9, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) q_goal = q_init [::] q_goal [0:3] = [2, 0, 1.57]; r (q_goal) # Choosing a path optimizer ps.addPathOptimizer("RandomShortcut") ps.setInitialConfig (q_init)
packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", [0, 20, -1, 1, 0, 2.2]) #~ rbprmBuilder.setFilter(['hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']) rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', [ 'Support', ]) rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', [ 'Support', ]) rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support']) #~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.5) #~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.9) #~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.9) #~ rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9) rbprmBuilder.boundSO3([-0., 0, -1, 1, -1, 1]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder) r = Viewer(ps) q_init = rbprmBuilder.getCurrentConfig() q_init[0:3] = [0, 0, 0.58] rbprmBuilder.setCurrentConfig(q_init) r(q_init) q_init[0:3] = [0.8, 0, 0.58] rbprmBuilder.setCurrentConfig(q_init) r(q_init)
urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder() rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", [0, 2.2, -1, 1, 0.7, 2.5]) #~ rbprmBuilder.setJointBounds ("base_joint_xyz", [-20,20.2, -10, 10, 0.7, 2.5]) #~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom']) rbprmBuilder.setFilter(['hrp2_lleg_rom', 'hrp2_rleg_rom']) #~ rbprmBuilder.setNormalFilter('hrp2_larm_rom', [0,0,1], 0.4) #~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.4) #~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.6) #~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.6) rbprmBuilder.boundSO3([-0.1, 0.1, -3, 3, -1.0, 1.0]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder) r = Viewer(ps) q0 = rbprmBuilder.getCurrentConfig() q_init = rbprmBuilder.getCurrentConfig() r(q_init) q_goal = q_init[::] q_goal[0:3] = [0.19, 0.05, 0.9] r(q_goal)
packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", [-5, 5, -1.5, 1.5, 0.5, 0.8]) # The following lines set constraint on the valid configurations: # a configuration is valid only if all limbs can create a contact ... rbprmBuilder.setFilter( ['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_lhleg_rom']) rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', [ 'Support', ]) rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', [ 'Support', ]) # We also bound the rotations of the torso. rbprmBuilder.boundSO3([-0.4, 0.4, -3, 3, -3, 3]) rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds( [-0.2, 0.2, -0.2, 0.2, 0, 0, 0, 0, 0, 0, 0, 0]) # Creating an instance of HPP problem solver and the viewer from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder) ps.client.problem.setParameter("aMax", aMax) ps.client.problem.setParameter("vMax", vMax) r = Viewer(ps) from hpp.corbaserver.affordance.affordance import AffordanceTool afftool = AffordanceTool() afftool.loadObstacleModel(packageName, "ground", "planning", r) #r.loadObstacleModel (packageName, "ground", "planning")
rbprmBuilder.setFilter(['hrp2_lleg_rom', 'hrp2_rleg_rom']) #rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Lean']) #rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Lean']) rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', [ 'Support', ]) rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support']) vMax = 0.2 aMax = 0.1 extraDof = 6 rbprmBuilder.setJointBounds("base_joint_xyz", [-3, 4.5, -2, 2.5, 0.55, 0.65]) rbprmBuilder.setJointBounds('CHEST_JOINT0', [-0.05, 0.05]) rbprmBuilder.setJointBounds('CHEST_JOINT1', [-0.05, 0.05]) # We also bound the rotations of the torso. (z, y, x) rbprmBuilder.boundSO3([-math.pi, math.pi, -0.1, 0.1, -0.1, 0.1]) rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds( [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) indexECS = rbprmBuilder.getConfigSize( ) - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace() # Creating an instance of HPP problem solver and the viewer from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder) ps.client.problem.setParameter("aMax", omniORB.any.to_any(aMax)) ps.client.problem.setParameter("vMax", omniORB.any.to_any(vMax)) ps.client.problem.setParameter("orientedPath", omniORB.any.to_any(0.)) ps.client.problem.setParameter("friction", omniORB.any.to_any(MU)) ps.client.problem.setParameter("sizeFootX", omniORB.any.to_any(0.24)) ps.client.problem.setParameter("sizeFootY", omniORB.any.to_any(0.14))
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2.2, -1, 1, 0.7, 2.5]) #~ rbprmBuilder.setJointBounds ("base_joint_xyz", [-20,20.2, -10, 10, 0.7, 2.5]) #~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom']) rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom']) #~ rbprmBuilder.setNormalFilter('hrp2_larm_rom', [0,0,1], 0.4) #~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.4) #~ rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.6) #~ rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.6) rbprmBuilder.boundSO3([-0.1,0.1,-3,3,-1.0,1.0]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver( rbprmBuilder ) r = Viewer (ps) q0 = rbprmBuilder.getCurrentConfig (); q_init = rbprmBuilder.getCurrentConfig (); r (q_init) q_goal = q_init [::] q_goal [0:3] = [0.19, 0.05, 0.9]; r (q_goal) rbprmBuilder.client.basic.robot.setJointConfig('base_joint_SO3',[0.7316888688738209, 0, 0.6816387600233341, 0]); q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder() rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", [0, 2, -1.4, 1.01, 0, 1.01]) rbprmBuilder.setFilter(['hrp2_larm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom']) #~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom']) rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support', 'Lean']) rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support']) rbprmBuilder.boundSO3([-0.7, 0.7, 0, 0, -0.0, 0.0]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder) r = Viewer(ps) q0 = rbprmBuilder.getCurrentConfig() q_init = rbprmBuilder.getCurrentConfig() r(q_init) q_goal = q_init[::] q_init = rbprmBuilder.getCurrentConfig() q_init[0:3] = [0.36, -0.37772165525546453, 0.968450617921899]
packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", [0.8, 5.6, -0.5, 0.5, 0.4, 1.2]) # The following lines set constraint on the valid configurations: # a configuration is valid only if all limbs can create a contact ... rbprmBuilder.setFilter( ['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_lhleg_rom']) rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', [ 'Support', ]) rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', [ 'Support', ]) # We also bound the rotations of the torso. rbprmBuilder.boundSO3([-0.2, 0.2, -0.3, 0.3, -0.3, 0.3]) rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds( [-vMax, vMax, -vMax, vMax, 0, 0, 0, 0, 0, 0, 0, 0]) # Creating an instance of HPP problem solver and the viewer from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder) ps.client.problem.setParameter("aMax", aMax) ps.client.problem.setParameter("vMax", vMax) r = Viewer(ps) from hpp.corbaserver.affordance.affordance import AffordanceTool afftool = AffordanceTool()
# a configuration is valid only if all limbs can create a contact ... rbprmBuilder.setFilter(['hrp2_lleg_rom', 'hrp2_rleg_rom']) rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', [ 'Support', ]) rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support']) vMax = 0.2 aMax = 0.1 extraDof = 6 #rbprmBuilder.setJointBounds ("base_joint_xyz", [-1,2.5,0.5 ,3, 0.6, 0.6]) rbprmBuilder.setJointBounds("base_joint_xyz", [-1, 2.5, 0.5, 3, 0.6, 0.6]) rbprmBuilder.setJointBounds('CHEST_JOINT0', [-0.05, 0.05]) rbprmBuilder.setJointBounds('CHEST_JOINT1', [-0.05, 0.05]) # We also bound the rotations of the torso. (z, y, x) rbprmBuilder.boundSO3([-math.pi, math.pi, -0.0, 0.0, -0.0, 0.0]) rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds( [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) indexECS = rbprmBuilder.getConfigSize( ) - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace() # Creating an instance of HPP problem solver and the viewer from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder) ps.client.problem.setParameter("aMax", omniORB.any.to_any(aMax)) ps.client.problem.setParameter("vMax", omniORB.any.to_any(vMax)) ps.client.problem.setParameter("orientedPath", omniORB.any.to_any(1.)) ps.client.problem.setParameter("friction", omniORB.any.to_any(MU)) ps.client.problem.setParameter("sizeFootX", omniORB.any.to_any(0.24)) ps.client.problem.setParameter("sizeFootY", omniORB.any.to_any(0.14))
meshPackageName = 'hpp-rbprm-corba' urdfName = 'hrp2_trunk_flexible' urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [-1,2, -1.5, 1, 0.5, 0.9]) rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom','hrp2_larm_rom']) #~ rbprmBuilder.setNormalFilter('hrp2_larm_rom', [0,0,1], 0.4) #~ rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.4) rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.6) rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.6) rbprmBuilder.boundSO3([-1.5,1.5,0,3,-0.0,0.0]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver( rbprmBuilder ) r = Viewer (ps) q0 = rbprmBuilder.getCurrentConfig (); q_init = rbprmBuilder.getCurrentConfig (); r (q_init) q_goal = q_init [::] q_init = rbprmBuilder.getCurrentConfig (); q_init[0:3] = [0.15, -0.45, 0.8]; r(q_init)
rbprmBuilder.setFilter([]) #rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Lean']) #rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Lean']) rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support']) vMax = 0.2 aMax = 0.1 extraDof = 6 MU = 0.5 rbprmBuilder.setJointBounds("base_joint_xyz", [-1.2, 1.5, -0.1, 0.1, 0.55, 0.85]) rbprmBuilder.setJointBounds('CHEST_JOINT0', [-0.05, 0.05]) rbprmBuilder.setJointBounds('CHEST_JOINT1', [-0.05, 0.05]) # We also bound the rotations of the torso. (z, y, x) rbprmBuilder.boundSO3([-0, 0, -0.1, 0.1, -0.1, 0.1]) rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds( [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) indexECS = rbprmBuilder.getConfigSize( ) - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace() # Creating an instance of HPP problem solver and the viewer from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder) ps.client.problem.setParameter("aMax", omniORB.any.to_any(aMax)) ps.client.problem.setParameter("aMaxZ", omniORB.any.to_any(10.)) ps.client.problem.setParameter("vMax", omniORB.any.to_any(vMax)) ps.client.problem.setParameter("orientedPath", omniORB.any.to_any(0.)) ps.client.problem.setParameter("friction", omniORB.any.to_any(MU)) ps.client.problem.setParameter("sizeFootX", omniORB.any.to_any(0.24))
meshPackageName = "hpp-rbprm-corba" urdfName = "hrp2_trunk_flexible" urdfNameRoms = ["hrp2_larm_rom", "hrp2_rarm_rom", "hrp2_lleg_rom", "hrp2_rleg_rom"] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder() rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", [-2, 5, -1, 1, 0.55, 4]) rbprmBuilder.setFilter(["hrp2_lleg_rom", "hrp2_rleg_rom"]) rbprmBuilder.setNormalFilter("hrp2_larm_rom", [0, 0, 1], 0.4) rbprmBuilder.setNormalFilter("hrp2_rarm_rom", [0, 0, 1], 0.4) rbprmBuilder.setNormalFilter("hrp2_lleg_rom", [0, 0, 1], 0.4) rbprmBuilder.setNormalFilter("hrp2_rleg_rom", [0, 0, 1], 0.4) rbprmBuilder.boundSO3([-0.1, 0.1, -0.1, 0.1, -1.0, 0.0]) # ~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder) r = Viewer(ps) q_init = rbprmBuilder.getCurrentConfig() q_init[0:3] = [-2, 0, 0.55] rbprmBuilder.setCurrentConfig(q_init) r(q_init) q_goal = q_init[::]
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01]) rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom']) #~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom']) #~ rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean']) rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean']) rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support']) rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver( rbprmBuilder ) r = Viewer (ps) q0 = rbprmBuilder.getCurrentConfig (); q_init = rbprmBuilder.getCurrentConfig (); r (q_init) q_goal = q_init [::] q_init = rbprmBuilder.getCurrentConfig (); #~ q_init[0:3] = [0.36, -0.32, 1.01]; r(q_init)
meshPackageName = 'hpp-rbprm-corba' urdfName = 'hrp2_trunk_flexible' urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom'] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.55, 4]) rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom']) rbprmBuilder.setNormalFilter('hrp2_larm_rom', [0,0,1], 0.4) rbprmBuilder.setNormalFilter('hrp2_rarm_rom', [0,0,1], 0.4) rbprmBuilder.setNormalFilter('hrp2_lleg_rom', [0,0,1], 0.4) rbprmBuilder.setNormalFilter('hrp2_rleg_rom', [0,0,1], 0.4) rbprmBuilder.boundSO3([-0.1,0.1,-0.1,0.1,-1.0,0.0]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver( rbprmBuilder ) r = Viewer (ps) q_init = rbprmBuilder.getCurrentConfig (); q_init [0:3] = [-2, 0, 0.55]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) q_goal = q_init [::] q_goal [0:3] = [3, 0, 0.55]; r (q_goal)
srdfSuffix = "" # Creating an instance of the helper class, and loading the robot rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4]) # The following lines set constraint on the valid configurations: # a configuration is valid only if all limbs can create a contact ... rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom']) # ... and only if a contact surface includes the gravity rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support',]) rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', ['Support',]) rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', ['Support',]) rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support', 'Lean']) # We also bound the rotations of the torso. rbprmBuilder.boundSO3([-0.4,0.4,-3,3,-3,3]) # Creating an instance of HPP problem solver and the viewer from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver( rbprmBuilder ) r = Viewer (ps) r.loadObstacleModel (packageName, "darpa", "planning") # Setting initial and goal configurations q_init = rbprmBuilder.getCurrentConfig (); q_init [0:3] = [-2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) q_goal = q_init [::] q_goal [0:3] = [3, 0, 0.63]; r (q_goal) # Choosing a path optimizer ps.addPathOptimizer("RandomShortcut")
#aMax = omniORB.any.to_any(0.3); extraDof = 6 mu=omniORB.any.to_any(MU) # Creating an instance of the helper class, and loading the robot rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [-5,5, -1.5, 1.5, 0.95, 1.05]) # The following lines set constraint on the valid configurations: # a configuration is valid only if all limbs can create a contact ... rbprmBuilder.setFilter(['talos_lleg_rom','talos_rleg_rom']) rbprmBuilder.setAffordanceFilter('talos_lleg_rom', ['Support',]) rbprmBuilder.setAffordanceFilter('talos_rleg_rom', ['Support']) # We also bound the rotations of the torso. (z, y, x) rbprmBuilder.boundSO3([-0.1,0.1,-0.65,0.65,-0.2,0.2]) rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([-1,1,-1,1,-2,2,0,0,0,0,0,0]) indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace() # Creating an instance of HPP problem solver and the viewer ps = ProblemSolver( rbprmBuilder ) ps.client.problem.setParameter("aMax",aMax) ps.client.problem.setParameter("vMax",vMax) ps.client.problem.setParameter("sizeFootX",omniORB.any.to_any(0.2)) ps.client.problem.setParameter("sizeFootY",omniORB.any.to_any(0.12)) ps.client.problem.setParameter("friction",mu) r = Viewer (ps) from hpp.corbaserver.affordance.affordance import AffordanceTool
urdfSuffix = "" srdfSuffix = "" # name_of_scene = "groundcrouch" name_of_scene = "basic" rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [-6,5, -4, 4, 0.6, 2]) rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom']) rbprmBuilder.setNormalFilter('hyq_lhleg_rom', [0,0,1], 0.9) rbprmBuilder.setNormalFilter('hyq_rfleg_rom', [0,0,1], 0.9) rbprmBuilder.setNormalFilter('hyq_lfleg_rom', [0,0,1], 0.9) rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9) rbprmBuilder.boundSO3([-0.1,0.1,-1,1,-1,1]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver( rbprmBuilder ) r = Viewer (ps) q_init = rbprmBuilder.getCurrentConfig (); q_init = [-6,-3,0.8,1,0,0,0]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) q_goal = [4, 4, 0.8, 1, 0, 0, 0]; r (q_goal) ps.addPathOptimizer("RandomShortcut") ps.setInitialConfig (q_init)
rbprmBuilder.setJointBounds("base_joint_xyz", [-1.7, 2.75, 0.95, 1.05, 0.1, 1.8]) rbprmBuilder.setJointBounds('CHEST_JOINT0', [0, 0]) rbprmBuilder.setJointBounds('CHEST_JOINT1', [-0.35, 0.1]) rbprmBuilder.setJointBounds('HEAD_JOINT0', [0, 0]) rbprmBuilder.setJointBounds('HEAD_JOINT1', [0, 0]) # The following lines set constraint on the valid configurations: # a configuration is valid only if all limbs can create a contact ... rbprmBuilder.setFilter(['hrp2_lleg_rom', 'hrp2_rleg_rom']) rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', [ 'Support', ]) rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support']) # We also bound the rotations of the torso. (z, y, x) rbprmBuilder.boundSO3([-0.001, 0.001, -0.001, 0.001, -0.001, 0.001]) rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds( [-4.5, 4.5, 0, 0, -2, 2, 0, 0, 0, 0, 0, 0]) indexECS = rbprmBuilder.getConfigSize( ) - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace() # Creating an instance of HPP problem solver and the viewer ps = ProblemSolver(rbprmBuilder) ps.client.problem.setParameter("aMax", omniORB.any.to_any(aMax)) ps.client.problem.setParameter("aMaxZ", omniORB.any.to_any(10.)) ps.client.problem.setParameter("vMax", omniORB.any.to_any(vMax)) ps.client.problem.setParameter("tryJump", omniORB.any.to_any(1.)) ps.client.problem.setParameter("sizeFootX", omniORB.any.to_any(0.24)) ps.client.problem.setParameter("sizeFootY", omniORB.any.to_any(0.14))