urdfName = 'construction_set/sphere' urdfSuffix = "" srdfSuffix = "" class Ground(object): rootJointType = 'anchor' packageName = 'hpp_environments' urdfName = 'construction_set/ground' urdfSuffix = "" srdfSuffix = "" nSphere = 2 robot = Robot('ur3-spheres', 'ur3') ps = ProblemSolver(robot) ps.setErrorThreshold(1e-4) ps.setMaxIterProjection(40) vf = ViewerFactory(ps) # Change bounds of robots to increase workspace and avoid some collisions robot.setJointBounds('ur3/shoulder_pan_joint', [-pi, 4]) robot.setJointBounds('ur3/shoulder_lift_joint', [-pi, 0]) robot.setJointBounds('ur3/elbow_joint', [-2.6, 2.6]) vf.loadEnvironmentModel(Ground, 'ground') objects = list() p = ps.client.basic.problem.getProblem()
rootJointType = 'freeflyer' urdfFilename = \ "package://hpp_environments/urdf/construction_set/sphere.urdf" srdfFilename = \ "package://hpp_environments/srdf/construction_set/sphere.srdf" class Ground(object): rootJointType = 'freeflyer' urdfFilename = \ "package://hpp_environments/urdf/construction_set/ground.urdf" srdfFilename = \ "package://hpp_environments/srdf/construction_set/ground.srdf" robot = Robot('2ur5-sphere', 'r0') robot.setJointPosition('r0/root_joint', [-.25, 0, 0, 0, 0, 0, 1]) ps = ProblemSolver(robot) ps.setErrorThreshold(1e-4) ps.setMaxIterProjection(40) vf = ViewerFactory(ps) # # Load robots and objets # - 2 UR3, # - 4 spheres, # - 4 short cylinders, vf.loadRobotModel(Robot, "r1")
from hpp.corbaserver.manipulation.ur5 import Robot from hpp.corbaserver.manipulation import ProblemSolver from scene_publisher3b import ScenePublisher as MultiRobotPub Robot.packageName = "fiad_description" Robot.urdfName = "ur5" Robot.urdfSuffix = '' Robot.srdfSuffix = '_ee' withWaypoint = True withLevelSetEgde = True robot = Robot ('ur5') robot.client.basic.problem.selectPathPlanner ("M-RRT") robot.loadObjectModel ('box', 'freeflyer', 'fiad_description', 'box', '', '') robot.buildCompositeRobot ('robot', ['ur5', 'box']) for a in ["x","y","z"]: robot.setJointBounds ("box/base_joint_"+a, [-1,1]) robot.client.basic.problem.resetRoadmap () robot.client.basic.problem.selectPathOptimizer ('None') robot.client.basic.problem.setMaxIterations (40) r = MultiRobotPub (robot) half_sitting = robot.getCurrentConfig (); qinit=[0,0,0,0,0,0,0, 0.5,0,1,0,0,0] qgoal=[0,0,0,0,0,0,0,-0.5,0,1,0,0,0] p = ProblemSolver (robot) p.createGrasp ('grasp', 'ur5/ee', 'box/handle') p.createGrasp ('grasp-passive', 'ur5/ee', 'box/handle') if withWaypoint:
# coding: utf-8 from hpp.corbaserver.manipulation.ur5 import Robot from hpp.corbaserver.manipulation import ProblemSolver, newProblem from hpp.corbaserver import loadServerPlugin loadServerPlugin ("corbaserver", "manipulation-corba.so") newProblem() robot = Robot ("robot", "ur5") ps = ProblemSolver (robot) distance = ps.hppcorba.problem.getDistance() q0 = robot.getCurrentConfig() qr = robot.shootRandomConfig() print distance.value (q0, qr) weights = distance.getWeights() weights[0] = 0 distance.setWeights (weights) print distance.value (q0, qr) from hpp.corbaserver.tools import Tools tools = Tools() ior=ps.hppcorba.orb.object_to_string (distance) tools.deleteServant(ior) tools.shutdown()
class Sphere (object): rootJointType = 'freeflyer' packageName = 'hpp_environments' urdfName = 'construction_set/sphere' urdfSuffix = "" srdfSuffix = "" class Ground (object): rootJointType = 'anchor' packageName = 'hpp_environments' urdfName = 'construction_set/ground' urdfSuffix = "" srdfSuffix = "" robot = Robot ('2ur5-sphere', 'r0') robot.setJointPosition ('r0/root_joint', [-.25, 0, 0, 0, 0, 0, 1]) ps = ProblemSolver (robot) ps.setErrorThreshold (1e-4) ps.setMaxIterProjection (40) vf = ViewerFactory (ps) # # Load robots and objets # - 2 UR3, # - 4 spheres, # - 4 short cylinders, vf.loadRobotModel (Robot, "r1")
from hpp.corbaserver.manipulation.ur5 import Robot from hpp.corbaserver.manipulation import ProblemSolver from scene_publisher3b import ScenePublisher as MultiRobotPub Robot.packageName = "fiad_description" Robot.urdfName = "ur5" Robot.urdfSuffix = '' Robot.srdfSuffix = '_ee' withWaypoint = True withLevelSetEgde = True robot = Robot('ur5') robot.client.basic.problem.selectPathPlanner("M-RRT") robot.loadObjectModel('box', 'freeflyer', 'fiad_description', 'box', '', '') robot.buildCompositeRobot('robot', ['ur5', 'box']) for a in ["x", "y", "z"]: robot.setJointBounds("box/base_joint_" + a, [-1, 1]) robot.client.basic.problem.resetRoadmap() robot.client.basic.problem.selectPathOptimizer('None') robot.client.basic.problem.setMaxIterations(40) r = MultiRobotPub(robot) half_sitting = robot.getCurrentConfig() qinit = [0, 0, 0, 0, 0, 0, 0, 0.5, 0, 1, 0, 0, 0] qgoal = [0, 0, 0, 0, 0, 0, 0, -0.5, 0, 1, 0, 0, 0] p = ProblemSolver(robot) p.createGrasp('grasp', 'ur5/ee', 'box/handle') p.createGrasp('grasp-passive', 'ur5/ee', 'box/handle') if withWaypoint: