Exemplos de ProblemSolver.directPath em Python

Exemplo n.º 1

Arquivo: callgrind.py Projeto: pFernbach/hpp_benchmark

from hpp.corbaserver.pr2 import Robot
robot = Robot('pr2')
robot.setJointBounds("base_joint_x", [-4, -3])
robot.setJointBounds("base_joint_y", [-5, -3])

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver(robot)

q_init = [
    -3.2, -4, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2,
    0.0, 0.0, 0.0, 0.0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0.0, 0.0, 0.0, 0.0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0.0
]

q_goal = [
    -3.2, -4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0, 0.0, 0.0, 0.0, 0.5, 0, -0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0.0, 0.0, 0.0, 0.0, 0.5, 0, -0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0.0, 0.0
]

ps.loadObstacleFromUrdf("iai_maps", "kitchen_area", "")

ps.selectPathOptimizer("None")
ps.directPath(q_init, q_goal)

Exemplo n.º 2

Arquivo: callgrind.py Projeto: humanoid-path-planner/hpp_benchmark

from hpp.corbaserver.pr2 import Robot
robot = Robot ('pr2')
robot.setJointBounds ("base_joint_x", [-4, -3])
robot.setJointBounds ("base_joint_y", [-5, -3])

from hpp.corbaserver import ProblemSolver
ps = ProblemSolver (robot)

q_init = [-3.2, -4, 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2, 0.0, 0.0, 0.0, 0.0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

q_goal = [-3.2, -4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0.0, 0.0, 0.0, 0.5, 0, -0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0, -0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

ps.loadObstacleFromUrdf ("iai_maps", "kitchen_area")

ps.selectPathOptimizer ("None")
ps.directPath (q_init, q_goal)