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Commit 33dd9364 authored by vahrenkamp's avatar vahrenkamp
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IKRRT demo update 

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@422 042f3d55-54a8-47e9-b7fb-15903f145c44
parent fe86659f
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MotionPlanning/examples/IKRRT/IKRRT.ui
+ 13
− 0
View file @ 33dd9364
......@@ -455,6 +455,19 @@
<string>Show Solution</string>
</property>
</widget>
<widget class="QPushButton" name="pushButtonPlay">
<property name="geometry">
<rect>
<x>50</x>
<y>400</y>
<width>121</width>
<height>31</height>
</rect>
</property>
<property name="text">
<string>Play and Save</string>
</property>
</widget>
</widget>
</item>
</layout>
......
MotionPlanning/examples/IKRRT/IKRRTDemo.cpp
+ 16
− 4
View file @ 33dd9364
......@@ -23,6 +23,8 @@ using namespace VirtualRobot;
#include "IKRRTWindow.h"
//#define ARMAR
int main(int argc, char *argv[])
{
......@@ -30,14 +32,24 @@ int main(int argc, char *argv[])
SoQt::init(argc,argv,"IKRRT");
cout << " --- START --- " << endl;
#ifdef ARMAR
std::string filenameScene("scenes/examples/IKRRT/planningHotSpot.xml");
std::string filenameReach("reachability/ArmarIII_HipLeftArm.bin");
std::string kinChain("TorsoLeftArm");
std::string eef("Hand L");
std::string colModel("LeftArmHandColModel");
std::string colModelRob("PlatformTorsoHeadColModel");
#else
// ICUB
std::string filenameScene("scenes/IKRRT_scene_iCub.xml");
VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(filenameScene);
std::string filenameReach("reachability/iCub_HipLeftArm.bin");
VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(filenameReach);
std::string kinChain("Hip Left Arm");
std::string eef("Left Hand");
std::string kinChain("Hip Left Arm");
std::string eef("Left Hand");
std::string colModel("Left HandArm ColModel");
std::string colModelRob("BodyHeadLegsColModel");
#endif
VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(filenameScene);
VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(filenameReach);
VirtualRobot::RuntimeEnvironment::considerKey("scene");
VirtualRobot::RuntimeEnvironment::considerKey("reachability");
......
VirtualRobot/data/scenes/IKRRT_scene_iCub_lego.xml 0 → 100644
+ 42
− 0
View file @ 33dd9364
<?xml version="1.0" encoding="UTF-8" ?>
<Scene name="iCubScene">
<Robot name="iCub" initConfig="start">
<File>/robots/iCub/iCub.xml</File>
<Configuration name="start">
<Node name="Left Arm Shoulder2" unit="radian" value="0.2"/>
<Node name="Left Arm Elbow1" unit="radian" value="0.45"/>
<Node name="Left Arm Elbow2" unit="radian" value="-0.5"/>
<Node name="Left Hand Thumb Joint1" unit="radian" value="0.8"/>
<Node name="Left Hand Thumb Joint2" unit="radian" value="-0.2"/>
<Node name="Right Arm Shoulder2" unit="radian" value="0.2"/>
<Node name="Right Arm Elbow1" unit="radian" value="0.45"/>
<Node name="Right Arm Elbow2" unit="radian" value="-0.5"/>
<Node name="Right Hand Thumb Joint1" unit="radian" value="0.8"/>
<Node name="Right Hand Thumb Joint2" unit="radian" value="-0.2"/>
</Configuration>
<!--GlobalPose>
<Transform>
<Translation x="0" y="0" z="0"/>
<rollpitchyaw units="degree" roll="0" pitch="0" yaw="180"/>
</Transform>
</GlobalPose-->
</Robot>
<ManipulationObject name="LegoGate">
<File type="Inventor">objects/iCub/LegoGate_Grasps_RightHand_200.xml</File>
<GlobalPose>
<Transform>
<Translation x="-250" y="0" z="600"/>
<rollpitchyaw units="degree" roll="90" pitch="0" yaw="90"/>
</Transform>
</GlobalPose>
</ManipulationObject>
</Scene>
\ No newline at end of file
VirtualRobot/data/scenes/examples/IKRRT/planningHotSpot.xml 0 → 100644
+ 225
− 0
View file @ 33dd9364
<?xml version="1.0" encoding="UTF-8" ?>
<Scene name="GraspRrtScene">
<Robot name="Armar-III" initConfig="init">
<File>robots/ArmarIII/ArmarIII.xml</File>
<Configuration name="init">
<Node name="Hip Pitch" unit="radian" value="0"/>
<Node name="Hip Roll" unit="radian" value="0"/>
<Node name="Hip Yaw" unit="radian" value="0"/>
<Node name="Shoulder 1 L" unit="radian" value="0.4"/>
<Node name="Shoulder 2 L" unit="radian" value="0"/>
<Node name="Upperarm L" unit="radian" value="0.0"/>
<Node name="Elbow L" unit="radian" value="0.35"/>
<Node name="Underarm L" unit="radian" value="0"/>
<Node name="Wrist 1 L" unit="radian" value="0"/>
<Node name="Wrist 2 L" unit="radian" value="0"/>
<Node name="Shoulder 1 R" unit="radian" value="0.4"/>
<Node name="Shoulder 2 R" unit="radian" value="0"/>
<Node name="Upperarm R" unit="radian" value="0"/>
<Node name="Elbow R" unit="radian" value="0.35"/>
<Node name="Underarm R" unit="radian" value="0"/>
<Node name="Wrist 1 R" unit="radian" value="0"/>
<Node name="Wrist 2 R" unit="radian" value="0"/>
</Configuration>
<!-- These joints are considered for motion planning-->
<!--RobotNodeSet name="Planning Left" kinematicRoot="Platform" tcp="TCP L">
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 L"/>
<Node name="Shoulder 2 L"/>
<Node name="Upperarm L"/>
<Node name="Elbow L"/>
<Node name="Underarm L"/>
<Node name="Wrist 1 L"/>
<Node name="Wrist 2 L"/>
</RobotNodeSet>
<RobotNodeSet name="Planning Right" kinematicRoot="Platform" tcp="TCP R">
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<!-- The first collision model (arm and hand) -- >
<RobotNodeSet name="ColModel Robot Moving Left">
<Node name="Upperarm L"/>
<Node name="Underarm L"/>
<Node name="Hand Palm 1 L"/>
<Node name="Hand Palm 2 L"/>
<Node name="Thumb L J0"/>
<Node name="Thumb L J1"/>
<Node name="Index L J0"/>
<Node name="Index L J1"/>
<Node name="Middle L J0"/>
<Node name="Middle L J1"/>
<Node name="Ring L J0"/>
<Node name="Ring L J1"/>
<Node name="Pinky L J0"/>
<Node name="Pinky L J1"/>
</RobotNodeSet>
<RobotNodeSet name="ColModel Robot Moving Right">
<Node name="Upperarm R"/>
<Node name="Underarm R"/>
<Node name="Hand Palm 1 R"/>
<Node name="Hand Palm 2 R"/>
<Node name="Thumb R J0"/>
<Node name="Thumb R J1"/>
<Node name="Index R J0"/>
<Node name="Index R J1"/>
<Node name="Middle R J0"/>
<Node name="Middle R J1"/>
<Node name="Ring R J0"/>
<Node name="Ring R J1"/>
<Node name="Pinky R J0"/>
<Node name="Pinky R J1"/>
</RobotNodeSet>
<!-- The second collision model (torso, head and platform)-- >
<RobotNodeSet name="ColModel Robot Body">
<Node name="Platform"/>
<Node name="Hip Yaw"/>
<Node name="Head_Tilt"/>
</RobotNodeSet-->
<GlobalPose>
<Transform>
<Translation x="-6115.0" y="3580.0" z="0"/>
<rollpitchyaw units="degree" roll="0" pitch="0" yaw="0"/>
</Transform>
</GlobalPose>
</Robot>
<ManipulationObject name="Popcorn">
<File>objects/ArmarIII/PopCorn_LeftHand1.xml</File>
<GlobalPose>
<Transform>
<Translation x="-6280" y="4200" z="1070"/>
<rollpitchyaw units="degree" roll="0" pitch="0" yaw="-70"/>
</Transform>
</GlobalPose>
</ManipulationObject>
<!--ManipulationObject name="Cup">
<File>objects/ArmarIII/GreenCup_LeftHand1.xml</File-->
<Obstacle name="Cup">
<Visualization>
<File type='inventor'>objects/iv/Cup.iv</File>
<UseAsCollisionModel/>
</Visualization>
<GlobalPose>
<Transform>
<Translation x="-6050" y="4170" z="1070"/>
<rollpitchyaw units="degree" roll="-90" pitch="0" yaw="120"/>
</Transform>
</GlobalPose>
</Obstacle>
<Obstacle name="SoftCake">
<Visualization>
<File type='inventor'>objects/iv/SoftCake_2_5k_tex.iv</File>
<UseAsCollisionModel/>
</Visualization>
<GlobalPose>
<Transform>
<Translation x="-5880" y="4470" z="1000"/>
<rollpitchyaw units="degree" roll="0" pitch="0" yaw="-100"/>
</Transform>
</GlobalPose>
</Obstacle>
<Obstacle name="Vitalis">
<Visualization>
<File type='inventor'>objects/iv/Vitalis_2_5k_tex.iv</File>
<UseAsCollisionModel/>
</Visualization>
<GlobalPose>
<Transform>
<Translation x="-5900" y="4200" z="1025"/>
<rollpitchyaw units="degree" roll="0" pitch="0" yaw="-110"/>
</Transform>
</GlobalPose>
</Obstacle>
<Obstacle name="Nesquik">
<Visualization>
<File type='inventor'>objects/iv/nesquik_2_5k_tex.iv</File>
<UseAsCollisionModel/>
</Visualization>
<GlobalPose>
<Transform>
<Translation x="-6080" y="4600" z="980"/>
<rollpitchyaw units="degree" roll="0" pitch="0" yaw="-95"/>
</Transform>
</GlobalPose>
</Obstacle>
<Obstacle name="CoffeeFilters">
<Visualization>
<File type='inventor'>objects/iv/CoffeeFilter_2_5k_tex.iv</File>
<UseAsCollisionModel/>
</Visualization>
<GlobalPose>
<Transform>
<Translation x="-6400" y="4470" z="1025"/>
<rollpitchyaw units="degree" roll="0" pitch="0" yaw="110"/>
</Transform>
</GlobalPose>
</Obstacle>
<!--ManipulationObject name="Multi">
<File>objects/ArmarIII/MultiJuice_LeftHand1.xml</File-->
<Obstacle name="Multi">
<Visualization>
<File type='inventor'>objects/iv/MultiJuice_2_5k_tex.iv</File>
<UseAsCollisionModel/>
</Visualization>
<GlobalPose>
<Transform>
<Translation x="-6150" y="4400" z="1140"/>
<rollpitchyaw units="degree" roll="-90" pitch="0" yaw="0"/>
</Transform>
</GlobalPose>
</Obstacle>
<Obstacle name="Tea">
<Visualization>
<File type='inventor'>objects/iv/AppleTeaGreen_5k_tex.iv</File>
<UseAsCollisionModel/>
</Visualization>
<GlobalPose>
<Transform>
<Translation x="-6510" y="4210" z="980"/>
<rollpitchyaw units="degree" roll="0" pitch="0" yaw="-70"/>
</Transform>
</GlobalPose>
</Obstacle>
<Obstacle name="Environment">
<Visualization>
<File type='inventor'>environment/KIT_kitchen.wrl</File>
</Visualization>
<CollisionModel>
<File type='inventor'>environment/KIT_kitchen_sideboard.wrl</File>
</CollisionModel>
</Obstacle>
<SceneObjectSet name="ColModel Obstacles">
<SceneObject name="Environment"/>
<SceneObject name="Multi"/>
</SceneObjectSet>
</Scene>
\ No newline at end of file
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