cleaning

data/urdf/hrp2_trunk_flexible.urdf

@@ -9,9 +9,9 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_body.stl"/>
+        <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_lleg_rom.stl"/>
       </geometry>
-      <material name="white">
+      <material name="red">
         <color rgba="1 1 1 1"/>
       </material>
     </visual>
@@ -45,7 +45,7 @@
       <geometry>
         <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso.stl"/>
       </geometry>
-      <material name="white">
+      <material name="red">
         <color rgba="1 1 1 1"/>
       </material>
     </visual>

script/truck_path_hrp2.py

@@ -13,7 +13,9 @@ rbprmBuilder = Builder ()
 
 rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
 rbprmBuilder.setJointBounds ("base_joint_xyz", [-1, 1, -4, 0, 1, 2.5])
-rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
+rbprmBuilder.setNormalFilter('hrp2_lleg_rom',[0,0,1], 0.7)
+rbprmBuilder.setNormalFilter('hrp2_rleg_rom',[0,0,1], 0.7)
 
 #~ from hpp.corbaserver.rbprm. import ProblemSolver
 from hpp.corbaserver.rbprm.problem_solver import ProblemSolver

src/hpp/corbaserver/rbprm/rbprmbuilder.py

@@ -101,7 +101,7 @@ class Builder (object):
     # \param normal 3d vector specifying the normal,
     # \param tolerance expressed as the dot product between the considered obstacle and the ideal normal.
     # if the dot product is greater than the tolerance the surface will be considered valid.
-    def setnormalfilter (self, rom, normal, tolerance):
+    def setNormalFilter (self, rom, normal, tolerance):
         return self.client.rbprm.rbprm.setNormalFilter (rom, normal, tolerance)
 
 	## Specifies a rom constraint for the planner.