Python loadObjectModel示例

示例#1

文件： grasp_ball_in_box.py 项目： jossdeloste/ISAE-SUPAERO

# importing usefull packages
from math import sqrt
from hpp import Transform
from hpp.corbaserver.manipulation import ConstraintGraph
from manipulation import robot, vf, ps, Ground, Box, Pokeball, PathPlayer, gripperName, ballName

# Loading & installing our working environment
vf.loadEnvironmentModel (Ground, 'ground')
vf.loadEnvironmentModel (Box, 'box')
vf.moveObstacle ('box/base_link_0', [0.3+0.04, 0, 0.04, 0, 0, 0, 1])
vf.moveObstacle ('box/base_link_1', [0.3-0.04, 0, 0.04, 0, 0, 0, 1])
vf.moveObstacle ('box/base_link_2', [0.3, 0.04, 0.04, 0, 0, 0, 1])
vf.moveObstacle ('box/base_link_3', [0.3, -0.04, 0.04, 0, 0, 0, 1])

# Loading our pokeball which plays our ball's role
vf.loadObjectModel (Pokeball, 'pokeball')
robot.setJointBounds ('pokeball/root_joint', [-.4,.4,-.4,.4,-.1,1.,
                                              -1.0001, 1.0001,-1.0001, 1.0001,
                                              -1.0001, 1.0001,-1.0001, 1.0001,])

r = vf.createViewer ()

q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 0, 0, 0, 1]
r (q1)

## Create graph
graph = ConstraintGraph (robot, 'graph')

# Contraint of ball relative position while it is located in the gripper 
ballInGripper = [0, .137, 0, 0.5, 0.5, -0.5, 0.5]
ps.createTransformationConstraint ('grasp', gripperName, ballName,

示例#2

文件： manipulation_box.py 项目： florent-lamiraux/florent-lamiraux.github.io

from math import sqrt
from hpp import Transform
from manipulation import robot, vf, ConstraintGraph, ps, Ground, Box, Pokeball, PathPlayer, gripperName, ballName

vf.loadEnvironmentModel (Ground, 'ground')
vf.loadEnvironmentModel (Box, 'box')
vf.moveObstacle ('box/base_link_0', [0.3+0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle ('box/base_link_1', [0.3-0.04, 0, 0.04, 1, 0, 0, 0])
vf.moveObstacle ('box/base_link_2', [0.3, 0.04, 0.04, 1, 0, 0, 0])
vf.moveObstacle ('box/base_link_3', [0.3, -0.04, 0.04, 1, 0, 0, 0])

vf.loadObjectModel (Pokeball, 'pokeball')
robot.setJointBounds ('pokeball/base_joint_xyz', [-.4,.4,-.4,.4,-.1,1.])

r = vf.createViewer ()

q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 1, 0, 0, 0]
r (q1)

## Create graph
graph = ConstraintGraph (robot, 'graph')

gripperAboveBall = (0, 0, 0.15, 0, -sqrt (2)/2, -sqrt (2)/2, 0)
ballAboveGround = [0, 0, 0.1, 1, 0, 0, 0]

## Create your own graph here
pp = PathPlayer (ps.client.basic, r)

示例#3

文件： grasp_ball.py 项目： humanoid-path-planner/hpp-practicals

from hpp.corbaserver import Client
from manipulation import (
    robot,
    vf,
    ps,
    Ground,
    Pokeball,
    gripperName,
    ballName,
)
from manipulation import PathPlayer  # noqa: F401

Client().problem.resetProblem()

vf.loadEnvironmentModel(Ground, "ground")
vf.loadObjectModel(Pokeball, "pokeball")
robot.setJointBounds(
    "pokeball/root_joint",
    [
        -0.4,
        0.4,
        -0.4,
        0.4,
        -0.1,
        2.0,
        -1.0001,
        1.0001,
        -1.0001,
        1.0001,
        -1.0001,
        1.0001,