Commit 1b626e56 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update script to use with gepetto-viewer.

parent 11ca9d20
# vim: foldmethod=marker foldlevel=2
from hpp.corbaserver.manipulation.hrp2 import Robot
from hpp.corbaserver.manipulation import ProblemSolver, ConstraintGraph
from hpp_ros.manipulation import ScenePublisher
from hpp.gepetto.manipulation import Viewer
Robot.urdfSuffix = '_capsule_mesh'
class ScrewGun (object):
rootJointType = 'freeflyer'
packageName = 'airbus_environment'
meshPackageName = 'airbus_environment'
urdfName = 'screw_gun'
urdfSuffix = "_massless"
srdfSuffix = ""
Robot.urdfSuffix = ''
Robot.srdfSuffix = '_manipulation'
# Load HRP2 and a screwgun {{{3
robot = Robot ('hrp2')
robot = Robot ('hrp2-screw', 'hrp2')
robot.client.basic.problem.selectPathPlanner ("M-RRT")
robot.loadObjectModel ('screw_gun', 'freeflyer', 'airbus_environment', 'screw_gun', '_massless', '')
robot.buildCompositeRobot ('hrp2-screw', ['hrp2', 'screw_gun'])
r = Viewer (robot)
r.loadObjectModel (ScrewGun, 'screw_gun')
r.buildCompositeRobot (['hrp2', 'screw_gun'])
for d in ["hrp2", "screw_gun"]:
robot.setJointBounds (d+"/base_joint_xyz", [-4,4,-4,4,-4,4])
robot.client.basic.problem.resetRoadmap ()
robot.client.basic.problem.selectPathOptimizer ('None')
robot.client.basic.problem.setErrorThreshold (1e-3)
robot.client.basic.problem.setMaxIterations (40)
# 3}}}
r = ScenePublisher (robot)
# Define configurations {{{3
half_sitting = robot.getCurrentConfig ();
q1=[0.2561522768052704, 0.009968182216397095, -0.0013343337623661373, 0.9822200021750263, -0.01324065709811156, 0.06488994582367685, 0.1756640181081545, 0.3518980306918394, 0.5587732909530961, -0.00014707196704839167, 0.003348199890377334, 0.2851538622381365, 0.019515985023849783, 0.47568241804625144, 0.034325840512149174, 0.48238375657832383, 0.5252200250587239, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.08183778724042397, -0.002329068502171773, 0.0013672024871911833, -0.03184796508559784, 0.00013468971902929027, -0.006463660186047965, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.0014454298679420635, 0.008692815372600783, -0.17944952816665183, -0.0349066, 0.08186718484328222, -0.0052176502711966674, -0.0014458867527617663, 0.008689383322591662, -0.1789250482962942, -0.0349066, 0.0813567181568653, -0.00521418794593098, -1.0, -0.009968182216397, 0.3399077826256168, 0.8920410834920809, 0.03081996727219969, -0.37686669705702674, -0.2475567159843218]
q2=[0.2561522768052704, 0.009968182216397094, -0.0013343337623677983, 0.9822200021750275, -0.013240657098102699, 0.06488994582365894, 0.17566401810815518, 0.3518980306918404, 0.5587732909530987, -0.00014707196704828986, 0.003348199890377807, 0.2851538622381267, 0.019515985023862044, 0.4756824180462511, 0.03432584051214365, 0.48238375657832383, 0.5252200250587228, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.08183778724043055, -0.0023290685021591065, 0.0013672024871913863, -0.03184796508560018, 0.00013468971902932646, -0.006463660186048368, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.001445429867963691, 0.008692815372566085, -0.17944952816666074, -0.0349066, 0.08186718484332876, -0.00521765027117088, -0.0014458867527830789, 0.008689383322556907, -0.17892504829630115, -0.0349066, 0.08135671815690743, -0.005214187945905259, 1.0, -0.009968182216397, 0.3399077826256168, 0.8920410834920809, 0.03081996727219969, -0.37686669705702674, -0.2475567159843218]
q3=[0.2561522768052704, 0.009968182216397017, -0.0013072533849402136, 0.9822384333854748, -0.01312068217341367, 0.06461437559545073, 0.17567154051286343, 0.35191845881842604, 0.5584191613132159, -0.00014417077050741273, 0.003264525687460523, 0.2869014360284614, 0.01968512963006628, 0.47563871278773184, 0.0349066, 0.4823374727974044, 0.5253128675582199, 0.00028141477557467405, -9.224156430856334e-05, 9.57339438119022e-05, 0.00043012512285501805, 9.464640215865539e-05, -0.00027454688131241776, -0.08070554282100409, -0.0022150673918241194, 0.0013507126487957277, -0.031445080182081316, 0.00013303660804169588, -0.0063951082465386055, 0.00018071522532470678, -7.008398345853373e-05, 0.0001432918466161822, 5.0663492959904484e-05, 5.932458587315774e-05, -0.0001501990824631989, -0.0016207277515218107, 0.008331445043308924, -0.1782202190053313, -0.0349066, 0.08120820667180957, -0.004973436857255375, -0.0016211611493169267, 0.008328178972275535, -0.17768239866563243, -0.03490564559358417, 0.08066263806839956, -0.00497014215842449, -0.2561522768052704, -0.009968182216396924, 0.33990778262561817, 0.8920410834920809, 0.03081996727219969, -0.37686669705702674, -0.2475567159843218]
half_sitting = q = robot.getInitialConfig ()
q_init = half_sitting [::]
# Set initial position of screw-driver
q_init [-7:] = [2, 1, 0.65, 0.7071067811865476, 0, -0.7071067811865475, 0]
# Open left hand
ilh = robot.rankInConfiguration ['hrp2/LARM_JOINT6']
q_init [ilh:ilh+6] = [0.75, -0.75, 0.75, -0.75, 0.75, -0.75]
q_goal = q_init [::]
q_goal [-7:] = [2, -1, 0.65, 0.7071067811865476, 0, -0.7071067811865475, 0]
qinit= [6.351445422051578e-15, -7.64857075802911e-16, -0.00010650933265040068, 0.9997086753828088, -0.001462864329132029, 0.024091994398753543, 1.4078154478767463e-05, -0.00040620371503693694, 0.06720468781884271, 0.09997150487212819, 0.10619128937732075, -0.030984458364104503, 0.06768151515542697, -9.21491333147205e-05, -0.007395092069129794, 4.108678412429508e-05, 0.09687147183171207, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.030157742792904667, -0.06148082407263112, 0.000178380167127975, -0.006607688410387017, 7.424531689237967e-05, 0.00026391550679217136, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.0011302430393443214, 0.00792613666021656, -0.05431204743596144, -0.020779247681766293, 0.026905347698115048, -0.00494217897984072, -0.0011303560351055939, 0.007923626259361372, -0.05448958126663155, -0.019807309704424767, 0.02612488205235436, -0.004939666182290102, 2, -0.009968182216395699, 0.3399077826251962, 0.7071067811865476, 0, -0.7071067811865475, 0]
qgoal= [6.351445422051578e-15, -7.64857075802911e-16, -0.00010650933265040068, 0.9997086753828088, -0.001462864329132029, 0.024091994398753543, 1.4078154478767463e-05, -0.00040620371503693694, 0.06720468781884271, 0.09997150487212819, 0.10619128937732075, -0.030984458364104503, 0.06768151515542697, -9.21491333147205e-05, -0.007395092069129794, 4.108678412429508e-05, 0.09687147183171207, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.030157742792904667, -0.06148082407263112, 0.000178380167127975, -0.006607688410387017, 7.424531689237967e-05, 0.00026391550679217136, 0.75, -0.75, 0.75, -0.75, 0.75, -0.75, -0.0011302430393443214, 0.00792613666021656, -0.05431204743596144, -0.020779247681766293, 0.026905347698115048, -0.00494217897984072, -0.0011303560351055939, 0.007923626259361372, -0.05448958126663155, -0.019807309704424767, 0.02612488205235436, -0.004939666182290102, 1, -0.009968182216395699, 0.3399077826251962, 0.7071067811865476, 0, -0.7071067811865475, 0]
# 3}}}
# Generate constraints {{{3
......@@ -52,14 +64,14 @@ graph.createPreGrasp ('l_pregrasp', 'hrp2/leftHand', 'screw_gun/handle2')
lockscrewgun = p.lockFreeFlyerJoint ('screw_gun/base_joint', 'screwgun_lock', parametric = True)
locklhand = ['larm_6','lhand_0','lhand_1','lhand_2','lhand_3','lhand_4']
p.createLockedDofConstraint ('larm_6' , 'hrp2/LARM_JOINT6' , q1[17], 0, 0)
p.createLockedDofConstraint ('lhand_0', 'hrp2/LHAND_JOINT0', q1[18], 0, 0)
p.createLockedDofConstraint ('lhand_1', 'hrp2/LHAND_JOINT1', q1[19], 0, 0)
p.createLockedDofConstraint ('lhand_2', 'hrp2/LHAND_JOINT2', q1[20], 0, 0)
p.createLockedDofConstraint ('lhand_3', 'hrp2/LHAND_JOINT3', q1[21], 0, 0)
p.createLockedDofConstraint ('lhand_4', 'hrp2/LHAND_JOINT4', q1[22], 0, 0)
p.createStaticStabilityConstraints ("balance", q1)
p.createLockedDofConstraint ('larm_6' , 'hrp2/LARM_JOINT6' , q_init [ilh], 0, 0)
p.createLockedDofConstraint ('lhand_0', 'hrp2/LHAND_JOINT0', q_init [ilh+1], 0, 0)
p.createLockedDofConstraint ('lhand_1', 'hrp2/LHAND_JOINT1', q_init [ilh+2], 0, 0)
p.createLockedDofConstraint ('lhand_2', 'hrp2/LHAND_JOINT2', q_init [ilh+3], 0, 0)
p.createLockedDofConstraint ('lhand_3', 'hrp2/LHAND_JOINT3', q_init [ilh+4], 0, 0)
p.createLockedDofConstraint ('lhand_4', 'hrp2/LHAND_JOINT4', q_init [ilh+5], 0, 0)
p.createStaticStabilityConstraints ("balance", q_init)
# 3}}}
# Create the graph of constraints {{{3
......@@ -86,5 +98,8 @@ graph.client.graph.setLevelSetConstraints (graph.edges['keep_grasp_ls'], [], loc
graph.setConstraints (graph=True, lockDof = locklhand, numConstraints=p.balanceConstraints ())
# 3}}}
p.setInitialConfig (qinit)
p.addGoalConfig (qgoal)
p.setInitialConfig (q_init)
p.addGoalConfig (q_goal)
from hpp.gepetto import PathPlayer
pp = PathPlayer (robot.client.basic, r)
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