half_sitting = [
-0.74,0,1.0192720229567027,0,0,0,1, # root_joint
0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, # leg_left
0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, # leg_right
0, 0.006761, # torso
0.25847, 0.173046, -0.0002, -0.525366, 0, 0, 0.1, # arm_left
0, 0, 0, 0, 0, 0, 0, # gripper_left
-0.25847, -0.173046, 0.0002, -0.525366, 0, 0, 0.1, # arm_right
0, 0, 0, 0, 0, 0, 0, # gripper_right
0, 0, # head
0,0,0,0,0,0,1, # box
]
q_init = robot.getCurrentConfig()
ps.addPartialCom ("talos", ["talos/root_joint"])
ps.addPartialCom ("talos_box", ["talos/root_joint", "box/root_joint"])
ps.createStaticStabilityConstraints ("balance", half_sitting, "talos", ProblemSolver.FIXED_ON_THE_GROUND)
foot_placement = [ "balance/pose-left-foot", "balance/pose-right-foot" ]
foot_placement_complement = [ ]
robot.setCurrentConfig(half_sitting)
com_wf = np.array(ps.getPartialCom("talos"))
tf_la = Transform (robot.getJointPosition(robot.leftAnkle))
com_la = tf_la.inverse().transform(com_wf)
ps.createRelativeComConstraint ("com_talos_box", "talos_box", robot.leftAnkle, com_la.tolist(), (True, True, True))
ps.createRelativeComConstraint ("com_talos" , "talos" , robot.leftAnkle, com_la.tolist(), (True, True, True))
ps.createPositionConstraint ("gaze", "talos/rgbd_optical_joint", "box/root_joint", (0,0,0), (0,0,0), (True, True, False))
lockrhand = list()
for j, v in robot.rightHandOpen.iteritems():
lockrhand.append('romeo/' + j)
if type(v) is float or type(v) is int:
val = [
v,
]
else:
val = v
ps.createLockedJoint('romeo/' + j, robot.displayName + '/' + j, val)
lockHands = lockrhand + locklhand
## Create static stability constraint
robot.leftAnkle = robot.displayName + '/' + robot.leftAnkle
robot.rightAnkle = robot.displayName + '/' + robot.rightAnkle
ps.addPartialCom('romeo', ['romeo/root_joint'])
q = robot.getInitialConfig()
r = placard.rank
q[r:r + 3] = [.4, 0, 1.2]
ps.createStaticStabilityConstraints('balance-romeo',
q,
'romeo',
type=ProblemSolver.FIXED_ON_THE_GROUND)
commonConstraints = Constraints(numConstraints=ps.balanceConstraints(),
lockedJoints=lockHands)
# build graph
rules = [
Rule([
"romeo/l_hand",
"romeo/r_hand",
0,
0,
0, # gripper_right
0,
0, # head
0,
0,
0,
0,
0,
0,
1, # mire
]
q_init = robot.getCurrentConfig()
ps.addPartialCom("talos", ["talos/root_joint"])
ps.addPartialCom("talos_mire", ["talos/root_joint", "mire/root_joint"])
ps.createStaticStabilityConstraints("balance", half_sitting, "talos",
ProblemSolver.FIXED_ON_THE_GROUND)
foot_placement = ["balance/pose-left-foot", "balance/pose-right-foot"]
foot_placement_complement = []
robot.setCurrentConfig(half_sitting)
com_wf = np.array(ps.getPartialCom("talos"))
tf_la = Transform(robot.getJointPosition(robot.leftAnkle))
com_la = tf_la.inverse().transform(com_wf)
ps.createRelativeComConstraint("com_talos_mire", "talos_mire", robot.leftAnkle,
com_la.tolist(), (True, True, True))
ps.createRelativeComConstraint("com_talos", "talos", robot.leftAnkle,
lockrhand = list()
for j, v in robot.rightHandOpen.items():
lockrhand.append('romeo/' + j)
if type(v) is float or type(v) is int:
val = [
v,
]
else:
val = v
ps.createLockedJoint('romeo/' + j, robot.robotNames[0] + '/' + j, val)
lockHands = lockrhand + locklhand
## Create static stability constraint
robot.leftAnkle = robot.robotNames[0] + '/' + robot.leftAnkle
robot.rightAnkle = robot.robotNames[0] + '/' + robot.rightAnkle
ps.addPartialCom('romeo', ['romeo/root_joint'])
q = robot.getInitialConfig()
r = placard.rank
q[r:r + 3] = [.4, 0, 1.2]
ps.addPartialCom("romeo", ["romeo/root_joint"])
robot.createStaticStabilityConstraint('balance/', 'romeo', robot.leftAnkle,
robot.rightAnkle, q)
balanceConstraints = [
'balance/pose-left-foot',
'balance/pose-right-foot',
'balance/relative-com',
]
commonConstraints = Constraints (numConstraints = balanceConstraints + \
lockHands)
# build graph
lockrhand = list()
for j,v in robot.rightHandOpen.iteritems():
lockrhand.append ('romeo/' + j)
if type(v) is float or type(v) is int:
val = [v,]
else:
val = v;
ps.createLockedJoint ('romeo/' + j, robot.displayName + '/' + j, val)
lockHands = lockrhand + locklhand
## Create static stability constraint
robot.leftAnkle = robot.displayName + '/' + robot.leftAnkle
robot.rightAnkle = robot.displayName + '/' + robot.rightAnkle
ps.addPartialCom ('romeo', ['romeo/root_joint'])
q = robot.getInitialConfig ()
r = placard.rank
q [r:r+3] = [.4, 0, 1.2]
ps.createStaticStabilityConstraints ('balance-romeo', q, 'romeo',
type = ProblemSolver.FIXED_ON_THE_GROUND)
commonConstraints = Constraints (numConstraints = ps.balanceConstraints (),
lockedJoints = lockHands)
# build graph
rules = [Rule (["romeo/l_hand","romeo/r_hand",], ["placard/low", ""], True),
Rule (["romeo/l_hand","romeo/r_hand",], ["", "placard/high"], True),
Rule (["romeo/l_hand","romeo/r_hand",], ["placard/low", "placard/high"], True),
]
grippers = ['romeo/r_hand', 'romeo/l_hand']
ps.createLockedJoint("gripper_r_lock_f3j", "talos/gripper_right_fingertip_3_joint", [0])
ps.createLockedJoint("gripper_r_lock_j", "talos/gripper_right_joint", [0])
ps.createLockedJoint("gripper_r_lock_msj", "talos/gripper_right_motor_single_joint", [0])
# lock gripper left open
ps.createLockedJoint("gripper_l_lock_idj", "talos/gripper_left_inner_double_joint", [0])
ps.createLockedJoint("gripper_l_lock_f1j", "talos/gripper_left_fingertip_1_joint", [0])
ps.createLockedJoint("gripper_l_lock_f2j", "talos/gripper_left_fingertip_2_joint", [0])
ps.createLockedJoint("gripper_l_lock_isj", "talos/gripper_left_inner_single_joint", [0])
ps.createLockedJoint("gripper_l_lock_f3j", "talos/gripper_left_fingertip_3_joint", [0])
ps.createLockedJoint("gripper_l_lock_j", "talos/gripper_left_joint", [0])
ps.createLockedJoint("gripper_l_lock_msj", "talos/gripper_left_motor_single_joint", [0])
# lock drawer closed
ps.createLockedJoint("drawer_lock", "desk/upper_case_bottom_upper_drawer_bottom_joint", [0])
# static stability constraint
ps.addPartialCom("Talos_CoM", ["talos/root_joint"])
ps.createStaticStabilityConstraints("talos_static_stability", q, "Talos_CoM", ProblemSolver.FIXED_ON_THE_GROUND)
tpc = ps.getPartialCom("Talos_CoM")
rla = robot.getJointPosition(robot.leftAnkle)
com_wf = np.array(tpc)
tf_la = Transform(rla)
com_la = tf_la.inverse().transform(com_wf)
ps.createRelativeComConstraint("talos_com_constraint_to_la", "Talos_CoM", robot.leftAnkle, com_la.tolist(), (True, True, False))
ps.setMaxIterProjection(40) # Set the maximum number of iterations of the projection algorithm. Must be called before the graph creation.
# constraint graph
rules = [
Rule(["talos/left_gripper", "talos/right_gripper"], ["^$", "^$"], True),
Rule(["talos/left_gripper", "talos/right_gripper"], ["^$", "desk/touchpoint_right_top"], True),
Rule(["talos/left_gripper", "talos/right_gripper"], ["^$", "desk/touchpoint_right_front"], True),
# ps.createLockedJoint ('laser', 'pr2/laser_tilt_mount_joint',
# [q_init[robot.rankInConfiguration['pr2/laser_tilt_mount_joint']]])
# lockAll = lockhands + lockHeadAndTorso + lockKitchen
lockAll = lockhands + lockKitchen
# 4}}}
# Create constraints corresponding to each object {{{4
lockFridge = ["fridge_lock", ]
ps.createLockedJoint ("fridge_lock", Kitchen.joint, [0,])
lockCup = ps.lockFreeFlyerJoint (Cup.joint, 'cup_lock')
robot.leftAnkle = robot.displayName + '/' + robot.leftAnkle
robot.rightAnkle = robot.displayName + '/' + robot.rightAnkle
ps.addPartialCom ('romeo', ['romeo/base_joint_xyz'])
ps.createStaticStabilityConstraints ("balance-romeo", q_init, 'romeo')
# 4}}}
# 3}}}
# Create the graph. {{{3
cg.createNode (['both', 'cup', 'fridge', 'free'])
# Cup and fridge {{{4
cg.setConstraints (node = 'both', grasps = [ 'l_cup_grasp', 'r_fridge_grasp', ])
cg.createWaypointEdge ('fridge', 'both', 'l_cup_grasp_both', 1, 10)
cg.setConstraints (edge='l_cup_grasp_both_e1', lockDof = lockCup)
lockAll = lockhands + lockKitchen
# 4}}}
# Create constraints corresponding to each object {{{4
lockFridge = [
"fridge_lock",
]
ps.createLockedJoint("fridge_lock", Kitchen.joint, [
0,
])
lockCup = ps.lockFreeFlyerJoint(Cup.joint, 'cup_lock')
robot.leftAnkle = robot.displayName + '/' + robot.leftAnkle
robot.rightAnkle = robot.displayName + '/' + robot.rightAnkle
ps.addPartialCom('romeo', ['romeo/base_joint_xyz'])
ps.createStaticStabilityConstraints("balance-romeo", q_init, 'romeo')
# 4}}}
# 3}}}
# Create the graph. {{{3
cg.createNode(['both', 'cup', 'fridge', 'free'])
# Cup and fridge {{{4
cg.setConstraints(node='both', grasps=[
'l_cup_grasp',
'r_fridge_grasp',
])
lockscrewgun = ps.lockFreeFlyerJoint ('screw_gun/base_joint', 'screwgun_lock')
locklhand = ['larm_6','lhand_0','lhand_1','lhand_2','lhand_3','lhand_4']
ps.createLockedJoint ('larm_6' , 'hrp2/LARM_JOINT6' , [q_init[ilh],])
ps.createLockedJoint \
('lhand_0', 'hrp2/LHAND_JOINT0', [q_init[ilh + 1],])
ps.createLockedJoint \
('lhand_1', 'hrp2/LHAND_JOINT1', [q_init[ilh + 2],])
ps.createLockedJoint \
('lhand_2', 'hrp2/LHAND_JOINT2', [q_init[ilh + 3],])
ps.createLockedJoint \
('lhand_3', 'hrp2/LHAND_JOINT3', [q_init[ilh + 4],])
ps.createLockedJoint \
('lhand_4', 'hrp2/LHAND_JOINT4', [q_init[ilh + 5],])
ps.addPartialCom ('hrp2', ['hrp2/base_joint_xyz'])
ps.createStaticStabilityConstraints ("balance-hrp2", q_init, 'hrp2')
# 3}}}
# Create the graph of constraints {{{3
graph.createNode (["screwgun", "free"])
graph.createWaypointEdge ('screwgun', 'free', 'ungrasp', nb=1, weight=1)
graph.createWaypointEdge ('free', 'screwgun', 'grasp', nb=1, weight=5)
graph.createEdge ('free', 'free', 'move_free', 5)
graph.createEdge ('screwgun', 'screwgun', 'keep_grasp', 10)
graph.createLevelSetEdge ('screwgun', 'screwgun', 'keep_grasp_ls', 5)
0,
0,
0.1, # arm_right
0,
0,
0,
0,
0,
0,
0, # gripper_right
0,
0, # head
]
q_init = robot.getCurrentConfig()
ps.addPartialCom("talos", ["talos/root_joint"])
ps.createStaticStabilityConstraints("balance", half_sitting, "talos",
ProblemSolver.FIXED_ON_THE_GROUND)
foot_placement = ["balance/pose-left-foot", "balance/pose-right-foot"]
foot_placement_complement = []
robot.setCurrentConfig(half_sitting)
com_wf = np.array(robot.getPartialCom("talos"))
tf_la = Transform(robot.getJointPosition(robot.leftAnkle))
com_la = tf_la.inverse().transform(com_wf)
ps.createRelativeComConstraint("com_talos", "talos", robot.leftAnkle,
com_la.tolist(), (True, True, True))
left_gripper_lock = []
locklhand = ['larm_6', 'lhand_0', 'lhand_1', 'lhand_2', 'lhand_3', 'lhand_4']
ps.createLockedJoint('larm_6', 'hrp2/LARM_JOINT6', [
q_init[ilh],
])
ps.createLockedJoint \
('lhand_0', 'hrp2/LHAND_JOINT0', [q_init[ilh + 1],])
ps.createLockedJoint \
('lhand_1', 'hrp2/LHAND_JOINT1', [q_init[ilh + 2],])
ps.createLockedJoint \
('lhand_2', 'hrp2/LHAND_JOINT2', [q_init[ilh + 3],])
ps.createLockedJoint \
('lhand_3', 'hrp2/LHAND_JOINT3', [q_init[ilh + 4],])
ps.createLockedJoint \
('lhand_4', 'hrp2/LHAND_JOINT4', [q_init[ilh + 5],])
ps.addPartialCom('hrp2', ['hrp2/base_joint_xyz'])
ps.createStaticStabilityConstraints("balance-hrp2", q_init, 'hrp2')
# 3}}}
# Create the graph of constraints {{{3
graph.createNode(["screwgun", "free"])
graph.createWaypointEdge('screwgun', 'free', 'ungrasp', nb=1, weight=1)
graph.createWaypointEdge('free', 'screwgun', 'grasp', nb=1, weight=5)
graph.createEdge('free', 'free', 'move_free', 5)
graph.createEdge('screwgun', 'screwgun', 'keep_grasp', 10)
graph.createLevelSetEdge('screwgun', 'screwgun', 'keep_grasp_ls', 5)
