Commit 25b106f3 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Scripts] updates installed scripts to change of path

parent 79157867
from scenarios.talos_path_planner import TalosPathPlanner
from hpp.corbaserver.rbprm.scenarios.talos_path_planner import TalosPathPlanner
import numpy as np
class PathPlanner(TalosPathPlanner):
......@@ -20,7 +20,7 @@ class PathPlanner(TalosPathPlanner):
"""
randomly sample initial and goal configuration :
"""
from tools.sample_root_config import generate_random_conf_without_orientation
from hpp.corbaserver.rbprm.tools.sample_root_config import generate_random_conf_without_orientation
self.q_init = generate_random_conf_without_orientation(self.rbprmBuilder, self.root_translation_bounds)
self.q_goal = generate_random_conf_without_orientation(self.rbprmBuilder, self.root_translation_bounds)
print("q_init= " + str(self.q_init))
......
from scenarios.memmo.talos_platform_random_path import PathPlanner
from scenarios.memmo.talos_contact_generator import TalosContactGenerator
from hpp.corbaserver.rbprm.scenarios.memmo.talos_platform_random_path import PathPlanner
from hpp.corbaserver.rbprm.scenarios.memmo.talos_contact_generator import TalosContactGenerator
import time
class ContactGenerator(TalosContactGenerator):
......
from scenarios.talos_path_planner import TalosPathPlanner
from hpp.corbaserver.rbprm.scenarios.talos_path_planner import TalosPathPlanner
import math
import numpy as np
from numpy import random
......
from scenarios.memmo.talos_randomMove_path import PathPlanner
from scenarios.memmo.talos_contact_generator import TalosContactGenerator
from hpp.corbaserver.rbprm.scenarios.memmo.talos_randomMove_path import PathPlanner
from hpp.corbaserver.rbprm.scenarios.memmo.talos_contact_generator import TalosContactGenerator
import time
import random
......@@ -34,7 +34,7 @@ class ContactGenerator(TalosContactGenerator):
def compute_configs_from_guide(self):
super().compute_configs_from_guide()
## generate random initial state : root pose at the origin exepct for z translation and both feet in contact with the floor
from tools.sample_random_transition import sampleRandomStateFlatFloor
from hpp.corbaserver.rbprm.tools.sample_random_transition import sampleRandomStateFlatFloor
limbsInContact = [self.fullbody.rLegId, self.fullbody.lLegId]
random.seed()
self.ps.setRandomSeed(random.SystemRandom().randint(0, 999999)) # is it really usefull ?
......
from scenarios.talos_path_planner import TalosPathPlanner
from hpp.corbaserver.rbprm.scenarios.talos_path_planner import TalosPathPlanner
import numpy as np
from pinocchio import Quaternion
class PathPlanner(TalosPathPlanner):
......
from scenarios.memmo.talos_stairs10_random_path import PathPlanner
from scenarios.memmo.talos_contact_generator import TalosContactGenerator
from hpp.corbaserver.rbprm.scenarios.memmo.talos_stairs10_random_path import PathPlanner
from hpp.corbaserver.rbprm.scenarios.memmo.talos_contact_generator import TalosContactGenerator
import time
class ContactGenerator(TalosContactGenerator):
......
from scenarios.talos_path_planner import TalosPathPlanner
from hpp.corbaserver.rbprm.scenarios.talos_path_planner import TalosPathPlanner
import numpy as np
class PathPlanner(TalosPathPlanner):
......@@ -43,7 +43,7 @@ class PathPlanner(TalosPathPlanner):
def set_random_configs(self):
import random
from tools.sampleRotation import sampleRotationForConfig
from hpp.corbaserver.rbprm.tools.sampleRotation import sampleRotationForConfig
q_up = self.q_init[::]
q_down = q_up[::]
# generate a random problem : (q_init, q_goal)
......
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