Python Robot примеры использования

Пример #1

Файл: script.py Проект: humanoid-path-planner/hpp_benchmark

  urdfSuffix = ""
  srdfSuffix = ""

class Box (object):
  rootJointType = "freeflyer"
  packageName = 'hpp-baxter'
  meshPackageName = 'hpp-baxter'
  urdfName = 'box'
  urdfSuffix = ""
  srdfSuffix = ""
  joint = "base_joint"
  handle = "handle"
# 4}}}

Robot.urdfSuffix = ""
robot = Robot ('baxter-manip', 'baxter')
ps = ProblemSolver (robot)
vf = ViewerFactory (ps)

#robot.setRootJointPosition ("baxter" , [-3.2,-3.9, 0.926, 1, 0, 0, 0])
robot.setRootJointPosition ("baxter" , [-0.8,0.8, 0.926, 1, 0, 0, 0])
vf.loadEnvironmentModel (Table, "table")
vf.loadObjectModel (Box, "box1")
vf.loadObjectModel (Box, "box2")

robot.setJointBounds ('box1/base_joint_xyz', [-1,0.5,-1,2,0.6,1.9])
robot.setJointBounds ('box2/base_joint_xyz', [-1,0.5,-1,2,0.6,1.9])
# 3}}}

# Define configurations. {{{3
q_init = robot.getCurrentConfig ()

Пример #2

  urdfSuffix = ""
  srdfSuffix = ""

class Box (object):
  rootJointType = "freeflyer"
  packageName = 'hpp-baxter'
  meshPackageName = 'hpp-baxter'
  urdfName = 'box'
  urdfSuffix = ""
  srdfSuffix = ""
  joint = "base_joint"
  handle = "handle"
# 4}}}

Robot.urdfSuffix = ""
robot = Robot ('baxter-manip', 'baxter')
ps = ProblemSolver (robot)
vf = ViewerFactory (ps)

#robot.setRootJointPosition ("baxter" , [-3.2,-3.9, 0.926, 1, 0, 0, 0])
robot.setRootJointPosition ("baxter" , [-0.8,0.8, 0.926, 0, 0, 0, 1])
vf.loadEnvironmentModel (Table, "table")
boxes = list()
for i in xrange(K):
  boxes.append ("box" + str(i))
  vf.loadObjectModel (Box, boxes[i])
  robot.setJointBounds (boxes[i]+ '/root_joint', [-1,0.5,-1,2,0.6,1.9,-1,1,-1,1,-1,1,-1,1])

def setBoxColors (gui):
  c = Color()
  for i in xrange(K):

Пример #3

Файл: baxter_table_multiple_boxes.py Проект: pFernbach/hpp_benchmark

  urdfSuffix = ""
  srdfSuffix = ""

class Box (object):
  rootJointType = "freeflyer"
  packageName = 'hpp-baxter'
  meshPackageName = 'hpp-baxter'
  urdfName = 'box'
  urdfSuffix = ""
  srdfSuffix = ""
  joint = "base_joint"
  handle = "handle"
# 4}}}

Robot.urdfSuffix = ""
robot = Robot ('baxter-manip', 'baxter')
ps = ProblemSolver (robot)
vf = ViewerFactory (ps)

#robot.setRootJointPosition ("baxter" , [-3.2,-3.9, 0.926, 1, 0, 0, 0])
robot.setRootJointPosition ("baxter" , [-0.8,0.8, 0.926, 1, 0, 0, 0])
vf.loadEnvironmentModel (Table, "table")
vf.loadObjectModel (Box, "box1")
vf.loadObjectModel (Box, "box2")

robot.setJointBounds ('box1/base_joint_xyz', [-1,0.5,-1,2,0.6,1.9])
robot.setJointBounds ('box2/base_joint_xyz', [-1,0.5,-1,2,0.6,1.9])
# 3}}}

# Define configurations. {{{3
q_init = robot.getCurrentConfig ()

Пример #4

  meshPackageName = 'iai_maps'
  urdfName = 'table'
  urdfSuffix = ""
  srdfSuffix = ""
class Box (object):
  rootJointType = "freeflyer"
  packageName = 'hpp-baxter'
  meshPackageName = 'hpp-baxter'
  urdfName = 'box'
  urdfSuffix = ""
  srdfSuffix = ""
  joint = "base_joint"
  handle = "handle"
# 4}}}
Robot.urdfSuffix = ""
robot = Robot ('baxter-manip', 'baxter')
ps = ProblemSolver (robot)
vf = ViewerFactory (ps)
#robot.setRootJointPosition ("baxter" , [-3.2,-3.9, 0.926, 1, 0, 0, 0])
robot.setRootJointPosition ("baxter" , [-0.8,0.8, 0.926, 0, 0, 0, 1])
vf.loadEnvironmentModel (Table, "table")
boxes = list()
for i in range(K):
  boxes.append ("box" + str(i))
  vf.loadObjectModel (Box, boxes[i])
  robot.setJointBounds (boxes[i]+ '/root_joint', [-1,0.5,-1,2,0.6,1.9,-1,1,-1,1,-1,1,-1,1])
def setBoxColors (gui):
  c = Color()
  for i in range(K):
    gui.setColor (boxes[i], c[i])
# 3}}}