rootJointType = 'freeflyer' packageName = 'hpp-rbprm-corba' 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", [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', '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()
'hyq_lhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_rhleg_rom' ] urdfSuffix = "" srdfSuffix = "" vMax = 4 aMax = 5 extraDof = 6 # 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", [-1.25,2, -0.5, 5.5, 0.6, 1.8]) rbprmBuilder.setJointBounds("base_joint_xyz", [-1.25, 5, 0, 2, 0.45, 1.8]) # 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. (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( [-vMax, vMax, -1, 1, -2, 2, 0, 0, 0, 0, 0, 0]) # Creating an instance of HPP problem solver and the viewer
rootJointType = 'freeflyer' packageName = 'hpp-rbprm-corba' meshPackageName = 'hpp-rbprm-corba' urdfName = 'hyq_trunk' urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom'] 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)
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", [-1.25,2, -0.5, 5.5, 0.6, 1.8]) rbprmBuilder.setJointBounds("base_joint_xyz", [-1, 2, -0.5, 0.5, 0.5, 0.8]) 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']) 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([-0.1, 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, -0.5, 0.5, 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)
urdfName = 'spiderman_trunk' urdfNameRoms = [ 'SpidermanLFootSphere', 'SpidermanRFootSphere', 'SpidermanLHandSphere', 'SpidermanRHandSphere' ] urdfSuffix = "" srdfSuffix = "" ecsSize = 4 base_joint_xyz_limits = [-10, 10, -10, 15, 0, 10] rbprmBuilder = Builder() # RBPRM rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", base_joint_xyz_limits) rbprmBuilder.boundSO3([-0.2, 0.2, -3.14, 3.14, -0.3, 0.3]) rbprmBuilder.setFilter(urdfNameRoms) affordanceType = ['Support'] rbprmBuilder.setAffordanceFilter('SpidermanLFootSphere', affordanceType) rbprmBuilder.setAffordanceFilter('SpidermanRFootSphere', affordanceType) rbprmBuilder.setAffordanceFilter('SpidermanLHandSphere', affordanceType) rbprmBuilder.setAffordanceFilter('SpidermanRHandSphere', affordanceType) rbprmBuilder.setContactSize(0.03, 0.08) rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(ecsSize) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds( [0, 0, 0, 0, 0, 0, -3.14, 3.14]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver(rbprmBuilder)
meshPackageName = 'hpp-rbprm-corba' urdfName = 'hrp2_trunk_lowBody_flexible' urdfNameRoms = [ 'hrp2_larm_rom', 'hrp2_rarm_rom', 'hrp2_lleg_rom', 'hrp2_rleg_rom' ] urdfSuffix = "" srdfSuffix = "" # Creating an instance of the helper class, and loading the robot rbprmBuilder = Builder() rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) # The following lines set constraint on the valid configurations: # a configuration is valid only if all limbs can create a contact ... 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])
rootJointType = 'freeflyer' packageName = 'hpp-rbprm-corba' meshPackageName = 'hpp-rbprm-corba' urdfName = 'hyq_trunk_large' urdfNameRom = [ 'hyq_lhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom', 'hyq_rhleg_rom' ] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder() rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", [-2, 5, -1, 1, 0.3, 4]) rbprmBuilder.setFilter(['hyq_rhleg_rom']) 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) # 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[::]
urdfSuffix = "" srdfSuffix = "" vMax = omniORB.any.to_any(0.3); aMax = omniORB.any.to_any(0.1); #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))
urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder() rbprmBuilder.loadModel( urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix, ) rbprmBuilder.setJointBounds("base_joint_xyz", [-2, 5, -1, 1, 0.3, 4]) rbprmBuilder.setFilter( ["hyq_lhleg_rom", "hyq_lfleg_rom", "hyq_rfleg_rom", "hyq_rhleg_rom"]) rbprmBuilder.setAffordanceFilter("hyq_rhleg_rom", ["Support", "Lean"]) rbprmBuilder.setAffordanceFilter( "hyq_rfleg_rom", [ "Support", ], ) rbprmBuilder.setAffordanceFilter("hyq_lhleg_rom", ["Support", "Lean"]) rbprmBuilder.setAffordanceFilter( "hyq_lfleg_rom", [ "Support", ], ) # We also bound the rotations of the torso.
from hpp.corbaserver.rbprm.rbprmbuilder import Builder from hpp.gepetto import Viewer rootJointType = 'freeflyer' packageName = 'hpp-rbprm-corba' 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", [-1.3,1, -0.5, 0.5, 0, 0.9]) rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom']) 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([-0.4,0.4,-3,3,-3,3]) #~ 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)
rootJointType = 'freeflyer' packageName = 'hpp-rbprm-corba' meshPackageName = 'hpp-rbprm-corba' urdfName = 'robot_test_trunk' urdfNameRom = ['robot_test_lleg_rom','robot_test_rleg_rom'] urdfSuffix = "" srdfSuffix = "" vMax = 1; aMax = 5; extraDof = 6 rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [-6,6, -3, 3, 0, 2.5]) rbprmBuilder.boundSO3([-0.1,0.1,-1,1,-1,1]) rbprmBuilder.setFilter(['robot_test_lleg_rom', 'robot_test_rleg_rom']) rbprmBuilder.setAffordanceFilter('robot_test_lleg_rom', ['Support']) rbprmBuilder.setAffordanceFilter('robot_test_rleg_rom', ['Support']) rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,0,0,0,0,0,0]) #~ from hpp.corbaserver.rbprm. import ProblemSolver from hpp.corbaserver.rbprm.problem_solver import ProblemSolver ps = ProblemSolver( rbprmBuilder ) ps.client.problem.setParameter("aMax",aMax) ps.client.problem.setParameter("vMax",vMax) ps.client.problem.setParameter("sizeFootX",0.24) ps.client.problem.setParameter("sizeFootY",0.14) r = Viewer (ps)
packageName = 'hpp-rbprm-corba' meshPackageName = 'hpp-rbprm-corba' urdfName = 'hrp2_trunk_flexible' urdfNameRoms = [ 'hrp2_larm_rom_visual', 'hrp2_rarm_rom_visual', 'hrp2_lleg_rom_visual', 'hrp2_rleg_rom_visual' ] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder() rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", [0, 3, -2, 0, 0.3, 1]) rbprmBuilder.setFilter(['hrp2_lleg_rom_visual', 'hrp2_rleg_rom_visual']) rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom_visual', ['Lean']) rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom_visual', [ 'Support', ]) rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom_visual', ['Support']) rbprmBuilder.boundSO3([-0., 0, -1, 1, -1, 1]) vMax = 1 aMax = 10 extraDof = 6 rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(extraDof) rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds( [-vMax, vMax, -vMax, vMax, 0, 0, 0, 0, 0, 0, 0, 0]) indexECS = rbprmBuilder.getConfigSize( ) - rbprmBuilder.client.basic.robot.getDimensionExtraConfigSpace()
from hpp.corbaserver.rbprm.rbprmbuilder import Builder from hpp.gepetto import Viewer rootJointType = "freeflyer" packageName = "hpp-rbprm-corba" 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()
from hpp.corbaserver.rbprm.rbprmbuilder import Builder from hpp.gepetto import Viewer rootJointType = "freeflyer" packageName = "hpp-rbprm-corba" meshPackageName = "hpp-rbprm-corba" urdfName = "hyq_trunk" urdfNameRom = ["hyq_lhleg_rom", "hyq_lhleg_rom", "hyq_rfleg_rom", "hyq_rhleg_rom"] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder() rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds("base_joint_xyz", [-1, 4, -1, 1, 0, 2]) rbprmBuilder.setFilter(["hyq_lhleg_rom", "hyq_rfleg_rom"]) # ~ 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] = [-1, 0, 0.4] rbprmBuilder.setCurrentConfig(q_init) r(q_init) # ~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) # ~ q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
from hpp.corbaserver.rbprm.rbprmbuilder import Builder from hpp.gepetto import Viewer rootJointType = 'freeflyer' packageName = 'hpp-rbprm-corba' meshPackageName = 'hpp-rbprm-corba' urdfName = 'hyq_trunk_large' urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom'] urdfSuffix = "" srdfSuffix = "" rbprmBuilder = Builder () rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4]) rbprmBuilder.setFilter(['hyq_rhleg_rom']) 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) # 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)