PyPI - hpp-tutorial - Versions diffs - 9.0.0__0-py3-none-any.whl - Mend

hpp-tutorial 9.0.0__0-py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (74) hide show

cmeel.prefix/share/hpp_tutorial/urdf/obstacle.urdf ADDED Viewed

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="obstacle">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <box size="0.02 0.2 0.2"/>
+      </geometry>
+      <material name="Orange">
+        <color rgba="1 0.4 0.3 0.6"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.02 0.2 0.2"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

cmeel.prefix/share/hpp_tutorial/urdf/rod.urdf ADDED Viewed

@@ -0,0 +1,19 @@
+<robot name="rod">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.50 0.05 0.05"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.50 0.05 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

cmeel.prefix/share/hpp_tutorial/urdf/square-plate.urdf ADDED Viewed

@@ -0,0 +1,17 @@
+<robot name="square-plate">
+  <link name="base_link">
+    <visual>
+      <material name="Blue">
+        <color rgba="0.1 0.1 0.9 1.0"/>
+      </material>
+      <geometry>
+        <box size="0.01 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

cmeel.prefix/share/hpp_tutorial/urdf/staubli-drill.urdf ADDED Viewed

@@ -0,0 +1,254 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/ubuntu/devel/hpp/install/share/hpp-coverage/urdf/syabot.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="staubli_tx2_90">
+  <!-- colours based on RAL values supplied by Staubli -->
+  <!-- all RAL colours converted using http://www.visual-graphics.de/en/customer-care/ral-colours -->
+  <!-- default colours for robots -->
+  <!-- links: main serial chain -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/visual/base_link.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/collision/base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/visual/link_1.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/collision/link_1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/visual/link_2.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/collision/link_2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/visual/link_3.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/collision/link_3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/visual/link_4.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/collision/link_4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/visual/link_5.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.5294117647058824 0.5215686274509804 0.5058823529411764 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/collision/link_5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/visual/link_6.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.5294117647058824 0.5215686274509804 0.5058823529411764 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/collision/link_6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joints: main serial chain -->
+  <joint name="joint_1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.478"/>
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 1"/>
+    <!-- from Staubli instruction manual:
+      (1) effort limit = 318 Nm if floor mounted
+      (2) effort limit = 111 Nm if wall mounted -->
+    <!-- nominal velocity limits are used -->
+    <limit effort="318.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="4.625122517784973"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <origin rpy="0 0 0" xyz="0.050 0 0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <axis xyz="0 1 0"/>
+    <!-- nominal velocity limits are used -->
+    <limit effort="166.0" lower="-2.2689280275926285" upper="2.5743606466916362" velocity="3.6651914291880923"/>
+  </joint>
+  <joint name="joint_3" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.05 0.425"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <axis xyz="0 1 0"/>
+    <!-- nominal velocity limits are used -->
+    <limit effort="76.0" lower="-2.530727415391778" upper="2.530727415391778" velocity="5.497787143782138"/>
+  </joint>
+  <joint name="joint_4" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <axis xyz="0 0 1"/>
+    <!-- nominal velocity limits are used -->
+    <limit effort="34.0" lower="-4.71238898038469" upper="4.71238898038469" velocity="7.853981633974483"/>
+  </joint>
+  <joint name="joint_5" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.425"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <axis xyz="0 1 0"/>
+    <!-- nominal velocity limits are used -->
+    <limit effort="29.0" lower="-2.007128639793479" upper="2.443460952792061" velocity="6.457718232379019"/>
+  </joint>
+  <joint name="joint_6" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.100"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="0 0 1"/>
+    <!-- nominal velocity limits are used -->
+    <limit effort="11.0" lower="-4.71238898038469" upper="4.71238898038469" velocity="10.995574287564276"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame: base_link to Staubli World Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.478"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="joint_6-flange" type="fixed">
+    <origin rpy="0 -1.5707963267948966 0" xyz="0 0 0"/>
+    <parent link="link_6"/>
+    <child link="flange"/>
+  </joint>
+  <!-- Drill_Link -->
+  <link name="drill_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/drill.stl"/>
+      </geometry>
+      <material name="Red">
+        <color rgba="0.9 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hpp_tutorial/meshes/drill.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="tool_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.074" radius="0.005"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry name="drill">
+        <cylinder length="0.074" radius="0.005"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+    <collision_checking>
+      <!--- This tells to pinocchio to replace the cylinder called "drill" by
+             a capsule with the same radius and length -->
+      <capsule name="drill"/>
+    </collision_checking>
+  </link>
+  <joint name="drill_joint" type="fixed">
+    <origin rpy="0 1.5707963267948966 0" xyz="0.158 0 0.074"/>
+    <parent link="drill_link"/>
+    <child link="tool_link"/>
+  </joint>
+  <joint name="tool_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.07 0 0"/>
+    <parent link="flange"/>
+    <child link="drill_link"/>
+  </joint>
+  <link name="root"/>
+  <joint name="root_joint" type="fixed">
+    <parent link="root"/>
+    <child link="base_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </joint>
+</robot>

cmeel.prefix/share/hpp_tutorial/urdf/table.urdf ADDED Viewed

@@ -0,0 +1,160 @@
+<robot name="table">
+  <material name="KitchenWhite">
+    <color rgba="0.75 0.75 0.7 1.0"/>
+  </material>
+  <material name="KitchenLightGray">
+    <color rgba="0.7 0.7 0.7 1.0"/>
+  </material>
+  <link name="base_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.0601041666667" ixy="0" ixz="0" iyy="0.486666666667" iyz="0" izz="0.426770833333"/>
+    </inertial>
+  </link>
+  <joint name="pancake_table_table_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="pancake_table_table_link"/>
+    <origin rpy="0 0 1.57" xyz="0.8 0 0"/>
+  </joint>
+  <joint name="pancake_table_table_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.7175"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_table_top_link"/>
+  </joint>
+  <link name="pancake_table_table_top_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.0601041666667" ixy="0" ixz="0" iyy="0.486666666667" iyz="0" izz="0.426770833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="1.6 0.6 0.025"/>
+      </geometry>
+      <material name="KitchenWhite"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="1.6 0.6 0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_table_top_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="KitchenWhite"/>
+  </gazebo>
+  <joint name="pancake_table_first_leg_joint" type="fixed">
+    <origin rpy="0 0 0 " xyz="-0.775 -0.275 0.350"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_first_leg_link"/>
+  </joint>
+  <link name="pancake_table_first_leg_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_first_leg_link">
+    <material value="KitchenLightGray"/>
+  </gazebo>
+  <joint name="pancake_table_second_leg_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.775 -0.275 0.350"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_second_leg_link"/>
+  </joint>
+  <link name="pancake_table_second_leg_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_second_leg_link">
+    <material value="KitchenLightGray"/>
+  </gazebo>
+  <joint name="pancake_table_third_leg_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.775 0.275 0.350"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_third_leg_link"/>
+  </joint>
+  <link name="pancake_table_third_leg_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_third_leg_link">
+    <material value="KitchenLightGray"/>
+  </gazebo>
+  <joint name="pancake_table_fourth_leg_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.775 0.275 0.350"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_fourth_leg_link"/>
+  </joint>
+  <link name="pancake_table_fourth_leg_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_fourth_leg_link">
+    <material value="KitchenLightGray"/>
+  </gazebo>
+  <link name="pancake_table_table_link">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
+    </inertial>
+  </link>
+</robot>

hpp_tutorial-9.0.0.dist-info/METADATA ADDED Viewed

@@ -0,0 +1,36 @@
+Metadata-Version: 2.4
+Name: hpp-tutorial
+Version: 9.0.0
+Summary: Tutorial for Humanoid path planner platform
+Requires-Python: >=3.9
+License-Expression: BSD-2-Clause
+License-File: LICENSE
+Requires-Dist: cmeel
+Requires-Dist: example-robot-data
+Requires-Dist: hpp-gepetto-viewer
+Requires-Dist: hpp-manipulation
+Provides-Extra: build
+Requires-Dist: example-robot-data[build]; extra == "build"
+Requires-Dist: hpp-gepetto-viewer[build]; extra == "build"
+Requires-Dist: hpp-manipulation[build]; extra == "build"
+Description-Content-Type: text/markdown
+# Tutorial for humanoid path planner platform.
+This package provides some tutorials to learn how to use [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc) software.
+The various tutorials are:
+1. [tutorial 1](./tutorial_1/README.md) How to install and run the software.
+2. [tutorial 2](./tutorial_2/README.md) How to define and solve a simple pick and place problem.
+3. [tutorial 3](./tutorial_3/README.md) How to use HPP in manufacturing.
+4. [tutorial 4](./tutorial_4/README.md) How to control the trajectory of a tool.
+5. [tutorial 5](./tutorial_5/README.md) How to optimize and time-parameterize paths.
+6. [tutorial 6](./tutorial_6/README.md) How to use the rviz2 vizualization.
+7. [tutorial 7](./tutorial_7/README.md) How to execute motions on a simulated robot.
+8. [tutorial 8](./tutorial_8/README.md) Pick and place with gripper, introducing pre and post-actions.
+9. [tutorial 9](./tutorial_9/README.md) A more efficient way to assign pre or post-actions.
+[![Pipeline status](https://gitlab.laas.fr/humanoid-path-planner/hpp_tutorial/badges/master/pipeline.svg)](https://gitlab.laas.fr/humanoid-path-planner/hpp_tutorial/commits/master)
+[![Coverage report](https://gitlab.laas.fr/humanoid-path-planner/hpp_tutorial/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/humanoid-path-planner/hpp_tutorial/master/coverage/)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/humanoid-path-planner/hpp_tutorial/master.svg)](https://results.pre-commit.ci/latest/github/humanoid-path-planner/hpp_tutorial)

hpp_tutorial-9.0.0.dist-info/RECORD ADDED Viewed

@@ -0,0 +1,74 @@
+cmeel.prefix/include/hpp/tutorial/config.hh,sha256=Pfjdnus6SuGhcsWgkXtqFa90XP2SK9vUAx0xSqnH-7E,5165
+cmeel.prefix/include/hpp/tutorial/deprecated.hh,sha256=Oak3Tzfg9KqEzyWBIFI-4GItdIXikdW9Ffhti6S7F1E,2230
+cmeel.prefix/include/hpp/tutorial/warning.hh,sha256=6kmxqY0vvPWaHJ7_X5OVCVF616LRinYqkDHw0nurjGk,1141
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+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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