vInit = 0.01
vMax = 0.5# linear velocity bound for the root
aMax = 0.5# linear acceleration bound for the root
aMaxZ = 5.
extraDof = 6
mu=0.5# coefficient of friction
# Creating an instance of the helper class, and loading the robot
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Robot ()
# Define bounds for the root : bounding box of the scenario
rootBounds = [-1.201,1.11, Y_VALUE-0.001, Y_VALUE+0.001, Z_VALUE_LOGS - 0.001, Z_VALUE_PALET + 0.06]
rbprmBuilder.setJointBounds ("root_joint", rootBounds)
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
rbprmBuilder.setFilter(Robot.urdfNameRom)
for rom in rbprmBuilder.urdfNameRom :
rbprmBuilder.setAffordanceFilter(rom, ['Support'])
# We also bound the rotations of the torso. (z, y, x)
rbprmBuilder.boundSO3([-0.01,0.01,-0.01,0.01,-0.01,0.01])
# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
rbprmBuilder.client.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,-2.,2.,-aMax,aMax,-aMax,aMax,-aMaxZ,aMaxZ])
indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.robot.getDimensionExtraConfigSpace()
# Creating an instance of HPP problem solver
ps = ProblemSolver( rbprmBuilder )
# define parameters used by various methods :
ps.setParameter("Kinodynamic/velocityBound",vMax)
statusFilename = "/tmp/infos.log"
vMax = 0.3 # linear velocity bound for the root
aMax = 1. # linear acceleration bound for the root
extraDof = 6
mu = 0.5 # coefficient of friction
# Creating an instance of the helper class, and loading the robot
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Robot()
# Define bounds for the root : bounding box of the scenario
root_bounds = [-2, 2, -2, 2, 0.4, 0.5]
rbprmBuilder.setJointBounds("root_joint", root_bounds)
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
rbprmBuilder.setFilter(rbprmBuilder.urdfNameRom)
for rom in rbprmBuilder.urdfNameRom:
rbprmBuilder.setAffordanceFilter(rom, ['Support'])
# We also bound the rotations of the torso. (z, y, x)
rbprmBuilder.boundSO3([-1.7, 1.7, -0.1, 0.1, -0.1, 0.1])
# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
rbprmBuilder.client.robot.setExtraConfigSpaceBounds(
[-vMax, vMax, -vMax, vMax, 0, 0, -aMax, aMax, -aMax, aMax, 0, 0])
indexECS = rbprmBuilder.getConfigSize(
) - rbprmBuilder.client.robot.getDimensionExtraConfigSpace()
# Creating an instance of HPP problem solver
ps = ProblemSolver(rbprmBuilder)
vInit = 0.05 # initial / final velocity to fix the direction
vGoal = 0.01
vMax = 0.5 # linear velocity bound for the root
aMax = 0.5 # linear acceleration bound for the root
extraDof = 6
mu = 0.3 # coefficient of friction
# Creating an instance of the helper class, and loading the robot
# Creating an instance of the helper class, and loading the robot
rbprmBuilder = Robot()
# Define bounds for the root : bounding box of the scenario
rootBounds = [0.4, 3.6, 0.4, 2., 0.4, 0.5]
rbprmBuilder.setJointBounds("root_joint", rootBounds)
# The following lines set constraint on the valid configurations:
# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
rbprmBuilder.setFilter([])
for rom in rbprmBuilder.urdfNameRom:
rbprmBuilder.setAffordanceFilter(rom, ['Support'])
# We also bound the rotations of the torso. (z, y, x)
rbprmBuilder.boundSO3([-3.14, 3.14, -0.1, 0.1, -0.1, 0.1])
# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
rbprmBuilder.client.robot.setExtraConfigSpaceBounds(
[-vMax, vMax, -vMax, vMax, 0, 0, -aMax, aMax, -aMax, aMax, 0, 0])
indexECS = rbprmBuilder.getConfigSize(
) - rbprmBuilder.client.robot.getDimensionExtraConfigSpace()
# Creating an instance of HPP problem solver
ps = ProblemSolver(rbprmBuilder)