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Humanoid Path Planner
hpp-rbprm-corba
Commits
cb3c4070
Commit
cb3c4070
authored
May 26, 2020
by
Pierre Fernbach
Browse files
[Python] update scripts to changes of path of robots classes
parent
49157cbf
Changes
7
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Inline
Side-by-side
src/hpp/corbaserver/rbprm/scenarios/anymal_contact_generator.py
View file @
cb3c4070
...
...
@@ -23,7 +23,7 @@ class AnymalContactGenerator(AbstractContactGenerator):
self
.
fullbody
.
setEndState
(
self
.
q_goal
,
self
.
end_contacts
,
normals_end
)
def
load_fullbody
(
self
):
from
hpp.corbaserver.
rbprm.anymal
import
Robot
from
anymal_
rbprm.anymal
import
Robot
self
.
fullbody
=
Robot
()
self
.
q_ref
=
self
.
fullbody
.
referenceConfig
[::]
+
[
0
]
*
self
.
path_planner
.
extra_dof
self
.
weight_postural
=
self
.
fullbody
.
postureWeights
[::]
+
[
0
]
*
self
.
path_planner
.
extra_dof
...
...
src/hpp/corbaserver/rbprm/scenarios/anymal_path_planner.py
View file @
cb3c4070
...
...
@@ -19,7 +19,7 @@ class AnymalPathPlanner(AbstractPathPlanner):
self
.
robot_node_name
=
"anymal_trunk"
def
load_rbprm
(
self
):
from
hpp.corbaserver.
rbprm.anymal_abstract
import
Robot
from
anymal_
rbprm.anymal_abstract
import
Robot
self
.
rbprmBuilder
=
Robot
(
client
=
self
.
hpp_client
,
clientRbprm
=
self
.
rbprm_client
)
def
set_joints_bounds
(
self
):
...
...
src/hpp/corbaserver/rbprm/scenarios/hrp2_contact_generator.py
View file @
cb3c4070
...
...
@@ -9,7 +9,7 @@ class HRP2ContactGenerator(AbstractContactGenerator):
self
.
robot_node_name
=
"hrp2_14"
def
load_fullbody
(
self
):
from
h
pp.corbaserver.
rbprm.hrp2
import
Robot
from
h
rp2_
rbprm.hrp2
import
Robot
self
.
fullbody
=
Robot
()
self
.
q_ref
=
self
.
fullbody
.
referenceConfig
[::]
+
[
0
]
*
self
.
path_planner
.
extra_dof
self
.
weight_postural
=
self
.
fullbody
.
postureWeights
[::]
+
[
0
]
*
self
.
path_planner
.
extra_dof
...
...
src/hpp/corbaserver/rbprm/scenarios/hrp2_path_planner.py
View file @
cb3c4070
...
...
@@ -19,5 +19,5 @@ class HRP2PathPlanner(AbstractPathPlanner):
self
.
robot_node_name
=
"hrp2_trunk_flexible"
def
load_rbprm
(
self
):
from
h
pp.corbaserver.
rbprm.hrp2_abstract
import
Robot
from
h
rp2_
rbprm.hrp2_abstract
import
Robot
self
.
rbprmBuilder
=
Robot
(
client
=
self
.
hpp_client
,
clientRbprm
=
self
.
rbprm_client
)
src/hpp/corbaserver/rbprm/scenarios/hyq_contact_generator.py
View file @
cb3c4070
...
...
@@ -23,7 +23,7 @@ class HyqContactGenerator(AbstractContactGenerator):
self
.
fullbody
.
setEndState
(
self
.
q_goal
,
self
.
end_contacts
,
normals_end
)
def
load_fullbody
(
self
):
from
h
pp.corbaserver.
rbprm.hyq
import
Robot
from
h
yq_
rbprm.hyq
import
Robot
self
.
fullbody
=
Robot
()
self
.
q_ref
=
self
.
fullbody
.
referenceConfig
[::]
+
[
0
]
*
self
.
path_planner
.
extra_dof
self
.
weight_postural
=
self
.
fullbody
.
postureWeights
[::]
+
[
0
]
*
self
.
path_planner
.
extra_dof
...
...
src/hpp/corbaserver/rbprm/scenarios/hyq_path_planner.py
View file @
cb3c4070
...
...
@@ -19,7 +19,7 @@ class HyqPathPlanner(AbstractPathPlanner):
self
.
robot_node_name
=
"hyq_trunk_large"
def
load_rbprm
(
self
):
from
h
pp.corbaserver.
rbprm.hyq_abstract
import
Robot
from
h
yq_
rbprm.hyq_abstract
import
Robot
self
.
rbprmBuilder
=
Robot
(
client
=
self
.
hpp_client
,
clientRbprm
=
self
.
rbprm_client
)
def
set_joints_bounds
(
self
):
...
...
tests/python/test_rbprm_state_3d.py
View file @
cb3c4070
...
...
@@ -2,7 +2,7 @@
# Authors: Pierre Fernbach <pfernbac@laas.fr>
import
unittest
from
h
pp.corbaserver.
rbprm.hyq
import
Robot
from
h
yq_
rbprm.hyq
import
Robot
from
hpp.corbaserver.rbprm.rbprmstate
import
State
,
StateHelper
from
hpp.corbaserver.rbprm.utils
import
ServerManager
...
...
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