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Guilhem Saurel
test-hpp
Commits
6489b63b
Commit
6489b63b
authored
Oct 09, 2014
by
Joseph Mirabel
Committed by
Joseph Mirabel
Nov 18, 2014
Browse files
Update test for HRP2 and manipulation planning
parent
890fc317
Changes
1
Hide whitespace changes
Inline
Side-by-side
script/test_simple_graph.py
View file @
6489b63b
...
...
@@ -24,8 +24,8 @@ q1=[0.2561522768052704, 0.009968182216397095, -0.0013343337623661373, 0.98222000
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
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0.06461437559545073
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0.17567154051286343
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0.35191845881842604
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0.5584191613132159
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-
0.00014417077050741273
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0.003264525687460523
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0.2869014360284614
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0.01968512963006628
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0.47563871278773184
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0.0349066
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0.4823374727974044
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0.5253128675582199
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0.00028141477557467405
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-
9.224156430856334e-05
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9.57339438119022e-05
,
0.00043012512285501805
,
9.464640215865539e-05
,
-
0.00027454688131241776
,
-
0.08070554282100409
,
-
0.0022150673918241194
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0.0013507126487957277
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-
0.031445080182081316
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0.00013303660804169588
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-
0.0063951082465386055
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0.00018071522532470678
,
-
7.008398345853373e-05
,
0.0001432918466161822
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5.0663492959904484e-05
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5.932458587315774e-05
,
-
0.0001501990824631989
,
-
0.0016207277515218107
,
0.008331445043308924
,
-
0.1782202190053313
,
-
0.0349066
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0.08120820667180957
,
-
0.004973436857255375
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-
0.0016211611493169267
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0.008328178972275535
,
-
0.17768239866563243
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-
0.03490564559358417
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0.08066263806839956
,
-
0.00497014215842449
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-
0.2561522768052704
,
-
0.009968182216396924
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0.33990778262561817
,
0.8920410834920809
,
0.03081996727219969
,
-
0.37686669705702674
,
-
0.2475567159843218
]
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
,
0.0003776033936788175
,
0.000250194383634261
,
-
0.0005725514027501679
,
6.818331370664385e-05
,
-
0.00020049176175900826
,
0.0004808871166639079
,
-
0.0011302430393443214
,
0.00792613666021656
,
-
0.05431204743596144
,
-
0.020779247681766293
,
0.026905347698115048
,
-
0.00494217897984072
,
-
0.0011303560351055939
,
0.007923626259361372
,
-
0.05448958126663155
,
-
0.019807309704424767
,
0.02612488205235436
,
-
0.004939666182290102
,
1.9999999999999933
,
-
0.009968182216395699
,
0.3399077826251962
,
0.
8920410834920809
,
0.03081996727219969
,
-
0.37686669705702674
,
-
0.2475567159843218
]
#
qgoal=
qinit
=
[
6.351445422051578e-15
,
-
7.64857075802911e-16
,
-
0.00010650933265040068
,
0.9997086753828088
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-
0.001462864329132029
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0.024091994398753543
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1.4078154478767463e-05
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-
0.00040620371503693694
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0.06720468781884271
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0.09997150487212819
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0.10619128937732075
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-
0.030984458364104503
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0.06768151515542697
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-
9.21491333147205e-05
,
-
0.007395092069129794
,
4.108678412429508e-05
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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
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0.0003776033936788175
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0.000250194383634261
,
-
0.0005725514027501679
,
6.818331370664385e-05
,
-
0.00020049176175900826
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0.0004808871166639079
,
-
0.0011302430393443214
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0.00792613666021656
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-
0.05431204743596144
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-
0.020779247681766293
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0.026905347698115048
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-
0.00494217897984072
,
-
0.0011303560351055939
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0.007923626259361372
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-
0.05448958126663155
,
-
0.019807309704424767
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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
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0.024091994398753543
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1.4078154478767463e-05
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-
0.00040620371503693694
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0.06720468781884271
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0.09997150487212819
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0.10619128937732075
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-
0.030984458364104503
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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
,
0.0003776033936788175
,
0.000250194383634261
,
-
0.0005725514027501679
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6.818331370664385e-05
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-
0.00020049176175900826
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0.0004808871166639079
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-
0.0011302430393443214
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0.00792613666021656
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0.05431204743596144
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0.020779247681766293
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0.026905347698115048
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-
0.00494217897984072
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-
0.0011303560351055939
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0.007923626259361372
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-
0.05448958126663155
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-
0.019807309704424767
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0.02612488205235436
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-
0.004939666182290102
,
1
,
-
0.009968182216395699
,
0.3399077826251962
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0.7071067811865476
,
0
,
-
0.7071067811865475
,
0
]
p
=
ProblemSolver
(
robot
)
p
.
createGrasp
(
'left-hand-grasp'
,
'hrp2/leftHand'
,
'screw_gun/handle2'
)
...
...
@@ -107,28 +107,34 @@ id["subgraph"] = graph.createSubGraph ('lefthand')
id
[
"screwgun"
]
=
graph
.
createNode
(
id
[
"subgraph"
],
'screwgun'
)
id
[
"free"
]
=
graph
.
createNode
(
id
[
"subgraph"
],
'free'
)
id
[
"ungrasp"
]
=
graph
.
createEdge
(
id
[
"screwgun"
],
id
[
"free"
],
"ungrasp"
,
1
,
False
)
id
[
"grasp"
]
=
graph
.
createEdge
(
id
[
"free"
],
id
[
"screwgun"
],
"grasp"
,
10
,
True
)
id
[
"ungrasp"
]
=
graph
.
create
Waypoint
Edge
(
id
[
"screwgun"
],
id
[
"free"
],
"ungrasp"
,
1
,
False
)
id
[
"ungrasp_w"
],
id
[
"ungrasp_w_node"
]
=
graph
.
getWaypoint
(
id
[
"ungrasp"
]
)
id
[
"grasp_w"
],
id
[
"grasp_w_node"
]
=
graph
.
addWaypoint
(
id
[
"grasp"
],
"grasp_w"
)
id
[
"grasp"
]
=
graph
.
createWaypointEdge
(
id
[
"free"
],
id
[
"screwgun"
],
"grasp"
,
5
,
True
)
id
[
"grasp_w"
],
id
[
"grasp_w_node"
]
=
graph
.
getWaypoint
(
id
[
"grasp"
])
id
[
"move_free"
]
=
graph
.
createEdge
(
id
[
"free"
],
id
[
"free"
],
"move_free"
,
1
,
False
)
id
[
"keep_grasp"
]
=
graph
.
createEdge
(
id
[
"screwgun"
],
id
[
"screwgun"
],
"keep_grasp"
,
10
,
False
)
id
[
"keep_grasp"
]
=
graph
.
createEdge
(
id
[
"screwgun"
],
id
[
"screwgun"
],
"keep_grasp"
,
5
,
False
)
id
[
"keep_grasp_ls"
]
=
graph
.
createLevelSetEdge
(
id
[
"screwgun"
],
id
[
"screwgun"
],
"keep_grasp_ls"
,
5
,
False
)
graph
.
setNumericalConstraints
(
id
[
"screwgun"
],
[
'left-hand-grasp'
])
graph
.
setNumericalConstraintsForPath
(
id
[
"screwgun"
],
[
'left-hand-grasp-passive'
])
graph
.
setLockedDofConstraints
(
id
[
"move_free"
],
lockscrewgun
)
graph
.
setLockedDofConstraints
(
id
[
"grasp"
],
lockscrewgun
)
graph
.
setLockedDofConstraints
(
id
[
"ungrasp"
],
lockscrewgun
)
graph
.
setNumericalConstraints
(
id
[
"ungrasp_w_node"
],
[
'pregrasp'
,
'pregrasp/ineq_0'
,
'pregrasp/ineq_0.1'
])
graph
.
setLockedDofConstraints
(
id
[
"ungrasp_w"
],
lockscrewgun
)
graph
.
setLockedDofConstraints
(
id
[
"grasp"
],
lockscrewgun
)
graph
.
setNumericalConstraints
(
id
[
"grasp_w_node"
],
[
'pregrasp'
,
'pregrasp/ineq_0'
,
'pregrasp/ineq_0.1'
])
graph
.
setLockedDofConstraints
(
id
[
"grasp_w"
],
lockscrewgun
)
graph
.
setLevelSetConstraints
(
id
[
"keep_grasp_ls"
],
[],
lockscrewgun
)
graph
.
setNumericalConstraints
(
id
[
"graph"
],
p
.
balanceConstraints
())
graph
.
setLockedDofConstraints
(
id
[
"graph"
],
locklhand
)
manip
=
robot
.
client
.
manipulation
p
.
setInitialConfig
(
q
1
)
p
.
addGoalConfig
(
q
2
)
p
.
setInitialConfig
(
q
init
)
p
.
addGoalConfig
(
q
goal
)
# This projector tends to fail with probability 0.6 (with random configuration)
manip
.
graph
.
statOnConstraint
(
id
[
"grasp"
])
#
manip.graph.statOnConstraint (id["grasp"])
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