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Humanoid Path Planner
hpp-rbprm-corba
Commits
58c0e1a9
Commit
58c0e1a9
authored
May 20, 2020
by
Pierre Fernbach
Browse files
[Scenarios] changes in talos_plateforme and talos_flatground for PAL demos
parent
cb3c4070
Changes
3
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src/hpp/corbaserver/rbprm/scenarios/demos/talos_flatGround_path.py
View file @
58c0e1a9
...
...
@@ -2,14 +2,28 @@ from hpp.corbaserver.rbprm.scenarios.talos_path_planner import TalosPathPlanner
class
PathPlanner
(
TalosPathPlanner
):
def
init_problem
(
self
):
self
.
a_max
=
0.05
super
().
init_problem
()
# greatly increase the number of loops of the random shortcut
self
.
ps
.
setParameter
(
"PathOptimization/RandomShortcut/NumberOfLoops"
,
50
)
# force the base orientation to follow the direction of motion along the Z axis
self
.
ps
.
setParameter
(
"Kinodynamic/forceYawOrientation"
,
True
)
def
run
(
self
):
self
.
init_problem
()
self
.
q_init
[:
2
]
=
[
0
,
0
]
self
.
q_goal
[:
2
]
=
[
1
,
0
]
self
.
q_goal
[:
2
]
=
[
1.
,
0
]
# Constraint the initial orientation when forceYawOrientation = True, expressed as a 3D vector (x,y,z)
#self.q_init[-6:-3] = [0.1, 0, 0]
#self.q_goal[-6:-3] = [0, -0.1, 0]
self
.
init_viewer
(
"multicontact/ground"
,
visualize_affordances
=
[
"Support"
])
self
.
init_planner
()
self
.
init_planner
(
True
,
False
)
self
.
solve
()
self
.
display_path
()
# self.play_path()
...
...
src/hpp/corbaserver/rbprm/scenarios/demos/talos_plateformes.py
View file @
58c0e1a9
...
...
@@ -11,7 +11,7 @@ class ContactGenerator(TalosContactGenerator):
# use a model with upscaled collision geometry for the feet
Robot
.
urdfSuffix
+=
"_safeFeet"
self
.
fullbody
=
Robot
()
self
.
q_ref
=
self
.
fullbody
.
referenceConfig
[::]
+
[
0
]
*
self
.
path_planner
.
extra_dof
self
.
q_ref
=
self
.
fullbody
.
referenceConfig
_legsApart
[::]
+
[
0
]
*
self
.
path_planner
.
extra_dof
self
.
weight_postural
=
self
.
fullbody
.
postureWeights
[::]
+
[
0
]
*
self
.
path_planner
.
extra_dof
def
set_joints_bounds
(
self
):
...
...
src/hpp/corbaserver/rbprm/scenarios/demos/talos_plateformes_path.py
View file @
58c0e1a9
...
...
@@ -12,8 +12,8 @@ class PathPlanner(TalosPathPlanner):
self
.
root_translation_bounds
=
[
-
5
,
5
,
-
1.5
,
1.5
,
0.95
,
1.3
]
self
.
init_problem
()
self
.
q_init
[:
3
]
=
[
0.1
6
,
0.25
,
1.14
]
self
.
q_goal
[:
3
]
=
[
1.0
9
,
0.25
,
1.14
]
self
.
q_init
[:
3
]
=
[
0.1
8
,
0.25
,
1.14
]
self
.
q_goal
[:
3
]
=
[
1.0
7
,
0.25
,
1.14
]
self
.
init_viewer
(
"multicontact/plateforme_surfaces"
,
reduce_sizes
=
[
0.18
,
0
,
0
],
...
...
Pierre Fernbach
@pfernbac
mentioned in commit
c3fe7e60
·
Sep 02, 2020
mentioned in commit
c3fe7e60
mentioned in commit c3fe7e60fc3a4baefd2987349875d66ecb3be822
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