Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Guilhem Saurel
test-hpp
Commits
28b081af
Commit
28b081af
authored
Apr 22, 2015
by
Florent Lamiraux
Browse files
Update to modification in path optimizer management
- several path optimizers can be used.
parent
78feddb4
Changes
4
Hide whitespace changes
Inline
Side-by-side
script/hrp2_walk.py
View file @
28b081af
...
...
@@ -14,7 +14,6 @@ vf = ViewerFactory (ps)
robot
.
setJointBounds
(
"hrp2/base_joint_xyz"
,
[
-
0.2
,
0.8
,
-
0.5
,
0.5
,
0
,
2
])
ps
.
selectPathOptimizer
(
'None'
)
ps
.
selectPathProjector
(
'Progressive'
,
0.2
)
ps
.
setErrorThreshold
(
1e-3
)
ps
.
setMaxIterations
(
40
)
...
...
script/test_graph_two_hands.py
View file @
28b081af
...
...
@@ -61,7 +61,6 @@ q_inter = [-0.8017105239677402, -0.5977125025958312, -0.796440524800078, 0.60471
# 3}}}
robot
.
client
.
basic
.
problem
.
resetRoadmap
()
robot
.
client
.
basic
.
problem
.
selectPathOptimizer
(
'None'
)
robot
.
client
.
basic
.
problem
.
setErrorThreshold
(
1e-3
)
robot
.
client
.
basic
.
problem
.
setMaxIterations
(
40
)
ps
.
selectPathProjector
(
'Progressive'
,
0.2
)
...
...
script/test_rrt.py
View file @
28b081af
...
...
@@ -60,6 +60,7 @@ else:
ps
.
setInitialConfig
(
q1proj
)
ps
.
addGoalConfig
(
q2proj
)
ps
.
addPathOptimizer
(
"RandomShortcut"
)
ps
.
solve
()
pp
=
PathPlayer
(
cl
,
r
)
...
...
script/test_simple_graph.py
View file @
28b081af
...
...
@@ -24,7 +24,6 @@ vf.loadObjectModel (ScrewGun, 'screw_gun')
for
d
in
[
"hrp2"
,
"screw_gun"
]:
robot
.
setJointBounds
(
d
+
"/base_joint_xyz"
,
[
-
4
,
4
,
-
4
,
4
,
-
4
,
4
])
ps
.
selectPathOptimizer
(
'None'
)
ps
.
selectPathProjector
(
"Progressive"
,
0.2
)
ps
.
setErrorThreshold
(
1e-3
)
ps
.
setMaxIterations
(
40
)
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment