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Commit 5b2f85b5 authored by Pierre Fernbach's avatar Pierre Fernbach
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[script] delete old scripts

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script/tests/darpa_hyq_interp.py deleted 100755 → 0
View file @ 8c6eb02e
#Importing helper class for RBPRM
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from hpp.gepetto import Viewer
#calling script darpa_hyq_path to compute root path
import darpa_hyq_path as tp
packageName = "hyq_description"
meshPackageName = "hyq_description"
rootJointType = "freeflyer"
# Information to retrieve urdf and srdf files.
urdfName = "hyq"
urdfSuffix = ""
srdfSuffix = ""
# This time we load the full body model of HyQ
fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
# Setting a number of sample configurations used
nbSamples = 20000
ps = tp.ProblemSolver(fullBody)
r = tp.Viewer (ps)
rootName = 'base_joint_xyz'
# Creating limbs
# cType is "_3_DOF": positional constraint, but no rotation (contacts are punctual)
cType = "_3_DOF"
# string identifying the limb
rLegId = 'rfleg'
# First joint of the limb, as in urdf file
rLeg = 'rf_haa_joint'
# Last joint of the limb, as in urdf file
rfoot = 'rf_foot_joint'
# Specifying the distance between last joint and contact surface
offset = [0.,-0.021,0.]
# Specifying the contact surface direction when the limb is in rest pose
normal = [0,1,0]
# Specifying the rectangular contact surface length
legx = 0.02; legy = 0.02
# remaining parameters are the chosen heuristic (here, manipulability), and the resolution of the octree (here, 10 cm).
fullBody.addLimb(rLegId,rLeg,rfoot,offset,normal, legx, legy, nbSamples, "manipulability", 0.1, cType)
lLegId = 'lhleg'
lLeg = 'lh_haa_joint'
lfoot = 'lh_foot_joint'
fullBody.addLimb(lLegId,lLeg,lfoot,offset,normal, legx, legy, nbSamples, "manipulability", 0.05, cType)
rarmId = 'rhleg'
rarm = 'rh_haa_joint'
rHand = 'rh_foot_joint'
fullBody.addLimb(rarmId,rarm,rHand,offset,normal, legx, legy, nbSamples, "manipulability", 0.05, cType)
larmId = 'lfleg'
larm = 'lf_haa_joint'
lHand = 'lf_foot_joint'
fullBody.addLimb(larmId,larm,lHand,offset,normal, legx, legy, nbSamples, "forward", 0.05, cType)
q_0 = fullBody.getCurrentConfig();
q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7]
q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.q_goal[0:7]
# Randomly generating a contact configuration at q_init
fullBody.setCurrentConfig (q_init)
q_init = fullBody.generateContacts(q_init, [0,0,1])
# Randomly generating a contact configuration at q_end
fullBody.setCurrentConfig (q_goal)
q_goal = fullBody.generateContacts(q_goal, [0,0,1])
# specifying the full body configurations as start and goal state of the problem
fullBody.setStartState(q_init,[])
fullBody.setEndState(q_goal,[rLegId,lLegId,rarmId,larmId])
r(q_init)
# computing the contact sequence
configs = fullBody.interpolate(0.1, 0, 0)
r.client.gui.removeFromGroup("planning",r.sceneName)
r.client.gui.removeFromGroup("hyq_trunk_large",r.sceneName)
r.loadObstacleModel ('hpp-rbprm-corba', "darpa", "contact")
import time
i = 0;
while(i < (len(configs)-1)):
fullBody.draw(configs[i],r); i=i+1; i-1
time.sleep(0.3)
#~ fullBody.exportAll(r, configs, 'darpa_hyq_robust_1');
script/tests/darpa_hyq_path.py deleted 100644 → 0
View file @ 8c6eb02e
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
white=[1.0,1.0,1.0,1.0]
green=[0.23,0.75,0.2,0.5]
yellow=[0.85,0.75,0.15,1]
pink=[1,0.6,1,1]
orange=[1,0.42,0,1]
brown=[0.85,0.75,0.15,0.5]
blue = [0.0, 0.0, 0.8, 1.0]
grey = [0.7,0.7,0.7,1.0]
red = [0.8,0.0,0.0,1.0]
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hyq_trunk_large_realist'
urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4])
rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom'])
rbprmBuilder.setNormalFilter('hyq_lhleg_rom', [0,0,1], 0.5)
rbprmBuilder.setNormalFilter('hyq_rfleg_rom', [0,0,1], 0.5)
rbprmBuilder.setNormalFilter('hyq_lfleg_rom', [0,0,1], 0.5)
rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.5)
rbprmBuilder.boundSO3([-0.4,0.4,-0.5,0.5,-0.5,0.5])
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(3)
rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
q_init = [-2, 0, 0.63,1,0,0,0,0,0,1]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
#~ q_init [0:3] = [2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
q_goal = q_init [::]
q_goal [0:3] = [3, 0, 0.63]; r (q_goal)
#~ ps.addPathOptimizer("GradientBased")
# ps.addPathOptimizer("RandomShortcut")
ps.selectPathPlanner("RRTdynamic")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
r.loadObstacleModel (packageName, "darpa", "planning")
r(q_init)
ps.solve ()
#r.solveAndDisplay("rm",1,0.02)
#r.displayRoadmap("rm",0.005)
r.displayPathMap("rmPath",0,0.02)
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
#~ rbprmBuilder.exportPath (r, ps.client.problem, 1, 0.1, "darpa_hyq_robust_20_path.txt")
#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
#~
#~ pp (2)
#~ pp (0)
pp.displayPath(0)
r.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp (0)
#r.client.gui.removeFromGroup("rm",r.sceneName)
r.client.gui.removeFromGroup("rmPath",r.sceneName)
#r.client.gui.removeFromGroup("path_1_root",r.sceneName)
#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
script/tests/robot_bigStep_STEVE_path.py deleted 100644 → 0
View file @ 8c6eb02e
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
white=[1.0,1.0,1.0,1.0]
green=[0.23,0.75,0.2,0.5]
yellow=[0.85,0.75,0.15,1]
pink=[1,0.6,1,1]
orange=[1,0.42,0,1]
brown=[0.85,0.75,0.15,0.5]
blue = [0.0, 0.0, 0.8, 1.0]
grey = [0.7,0.7,0.7,1.0]
red = [0.8,0.0,0.0,1.0]
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'robot_test_trunk'
urdfNameRom = ['robot_test_lleg_rom','robot_test_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-6,6, -3, 3, 0, 1.5])
rbprmBuilder.boundSO3([-0.1,0.1,-3,3,-1.0,1.0])
rbprmBuilder.setFilter(['robot_test_lleg_rom', 'robot_test_rleg_rom'])
rbprmBuilder.setNormalFilter('robot_test_lleg_rom', [0,0,1], 0.5)
rbprmBuilder.setNormalFilter('robot_test_rleg_rom', [0,0,1], 0.5)
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
r.loadObstacleModel (packageName, "ground_jump_easy", "planning")
q_init = rbprmBuilder.getCurrentConfig ();
q_init [0:3] = [-4, 1, 0.9]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
q_goal = q_init [::]
#q_goal [0:3] = [-2, 0, 0.9]; r (q_goal) # premiere passerelle
q_goal [0:3] = [4, -1, 0.9]; r (q_goal) # pont
#~ ps.addPathOptimizer("GradientBased")
ps.addPathOptimizer("RandomShortcut")
#ps.client.problem.selectSteeringMethod("SteeringParabola")
#ps.selectPathPlanner("RRTdynamic")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
r(q_init)
# (nameRoadmap,numberIt,colorNode,radiusSphere,sizeAxis,colorEdge
r.solveAndDisplay("rm",10,white,0.02,1,brown)
#t = ps.solve ()
#r.displayRoadmap("rm",0.005)
#r.displayPathMap("rmPath",0,0.02)
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
pp(0)
#pp.displayPath(1,blue)
#r.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp (1)
#r.client.gui.removeFromGroup("rm",r.sceneName)
#r.client.gui.removeFromGroup("rmPath",r.sceneName)
#r.client.gui.removeFromGroup("path_1_root",r.sceneName)
#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
script/tests/robot_bigStep_path.py deleted 100644 → 0
View file @ 8c6eb02e
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
white=[1.0,1.0,1.0,1.0]
green=[0.23,0.75,0.2,0.5]
yellow=[0.85,0.75,0.15,1]
pink=[1,0.6,1,1]
orange=[1,0.42,0,1]
brown=[0.85,0.75,0.15,0.5]
blue = [0.0, 0.0, 0.8, 1.0]
grey = [0.7,0.7,0.7,1.0]
red = [0.8,0.0,0.0,1.0]
black=[0,0,0,1]
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'robot_test_trunk'
urdfNameRom = ['robot_test_lleg_rom','robot_test_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-6,6, -3, 3, 0, 1.5])
rbprmBuilder.boundSO3([-0.1,0.1,-3,3,-1.0,1.0])
rbprmBuilder.setFilter(['robot_test_lleg_rom', 'robot_test_rleg_rom'])
rbprmBuilder.setNormalFilter('robot_test_lleg_rom', [0,0,1], 0.5)
rbprmBuilder.setNormalFilter('robot_test_rleg_rom', [0,0,1], 0.5)
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(3)
rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
r.loadObstacleModel (packageName, "ground_bigStep", "planning")
q_init = rbprmBuilder.getCurrentConfig ();
#q_init[(len(q_init)-3):]=[0,0,1] # set normal for init / goal config
q_init [0:3] = [-4, 1, 0.9]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
q_goal = q_init [::]
#q_goal [0:3] = [-2, 1, 0.6]; r (q_goal) # tryDirectPath
q_goal [0:3] = [4, -1, 0.9]; r (q_goal)
#~ ps.addPathOptimizer("GradientBased")
#ps.addPathOptimizer("RandomShortcut")
ps.selectPathPlanner("RRTdynamic")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
r(q_init)
#r.solveAndDisplay("rm",1,0.02)
t = ps.solve ()
r.displayRoadmap("rm",0.005)
#r.displayPathMap("rmPath",0,0.02,colorEdge=blue)
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
pp.displayPath(0,red)
pp(0)
r.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp.displayPath(1,black)
pp (1)
#r.client.gui.removeFromGroup("rm",r.sceneName)
r.client.gui.removeFromGroup("rmPath",r.sceneName)
r.client.gui.removeFromGroup("path_1_root",r.sceneName)
#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
script/tests/robot_jumpEasy_path.py deleted 100644 → 0
View file @ 8c6eb02e
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
white=[1.0,1.0,1.0,1.0]
green=[0.23,0.75,0.2,0.5]
yellow=[0.85,0.75,0.15,1]
pink=[1,0.6,1,1]
orange=[1,0.42,0,1]
brown=[0.85,0.75,0.15,0.5]
blue = [0.0, 0.0, 0.8, 1.0]
grey = [0.7,0.7,0.7,1.0]
red = [0.8,0.0,0.0,1.0]
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'robot_test_trunk'
urdfNameRom = ['robot_test_lleg_rom','robot_test_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-6,6, -3, 3, 0, 2.5])
rbprmBuilder.boundSO3([-0.1,0.1,-1,1,-1,1])
rbprmBuilder.setFilter(['robot_test_lleg_rom', 'robot_test_rleg_rom'])
rbprmBuilder.setNormalFilter('robot_test_lleg_rom', [0,0,1], 0.5)
rbprmBuilder.setNormalFilter('robot_test_rleg_rom', [0,0,1], 0.5)
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(3)
rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
r.loadObstacleModel (packageName, "ground_jump_easy", "planning")
q_init = rbprmBuilder.getCurrentConfig ();
#q_init[(len(q_init)-3):]=[0,0,1] # set normal for init / goal config
q_init [0:3] = [-4, 1, 0.9]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
q_goal = q_init [::]
#q_goal [0:3] = [-2, 0, 0.9]; r (q_goal) # premiere passerelle
q_goal [0:3] = [3, 1, 0.9]; r (q_goal) # pont
#~ ps.addPathOptimizer("GradientBased")
ps.addPathOptimizer("RandomShortcut")
#ps.client.problem.selectSteeringMethod("SteeringDynamic")
ps.selectPathPlanner("RRTdynamic")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
r(q_init)
#ps.client.problem.prepareSolveStepByStep()
#i = 0
#r.displayRoadmap("rm"+str(i),0.02)
#ps.client.problem.executeOneStep() ;i = i+1; r.displayRoadmap("rm"+str(i),0.02) ; r.client.gui.removeFromGroup("rm"+str(i-1),r.sceneName) ;
#t = ps.solve ()
r.solveAndDisplay("rm",1,0.02)
#t = ps.solve ()
#r.displayRoadmap("rm",0.02)
r.displayPathMap("rmPath",0,0.02)
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
pp.displayPath(0,r.color.lightGreen)
pp(0)
pp.displayPath(1,blue)
r.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp.displayPath(1,black)
pp (1)
#r.client.gui.removeFromGroup("rm",r.sceneName)
r.client.gui.removeFromGroup("rmPath",r.sceneName)
r.client.gui.removeFromGroup("path_1_root",r.sceneName)
#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
script/tests/robot_test_path.py deleted 100644 → 0
View file @ 8c6eb02e
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
white=[1.0,1.0,1.0,1.0]
green=[0.23,0.75,0.2,0.5]
yellow=[0.85,0.75,0.15,1]
pink=[1,0.6,1,1]
orange=[1,0.42,0,1]
brown=[0.85,0.75,0.15,0.5]
blue = [0.0, 0.0, 0.8, 1.0]
grey = [0.7,0.7,0.7,1.0]
red = [0.8,0.0,0.0,1.0]
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'robot_test_trunk'
urdfNameRom = ['robot_test_lleg_rom','robot_test_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-8,6, -2, 2, 0.4, 1.3])
rbprmBuilder.boundSO3([-0.1,0.1,-3,3,-1.0,1.0])
rbprmBuilder.setFilter(['robot_test_lleg_rom', 'robot_test_rleg_rom'])
rbprmBuilder.setNormalFilter('robot_test_lleg_rom', [0,0,1], 0.5)
rbprmBuilder.setNormalFilter('robot_test_rleg_rom', [0,0,1], 0.5)
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(3)
rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
r.loadObstacleModel (packageName, "groundcrouch", "planning")
q_init = rbprmBuilder.getCurrentConfig ();
q_init[(len(q_init)-3):]=[0,0,1] # set normal for init / goal config
q_init [0:3] = [-6, 0, 0.9]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
q_goal = q_init [::]
#q_goal [0:3] = [-2, 0, 0.9]; r (q_goal) # premiere passerelle
q_goal [0:3] = [4, 0, 0.9]; r (q_goal) # pont
#~ ps.addPathOptimizer("GradientBased")
ps.addPathOptimizer("RandomShortcut")
ps.selectPathPlanner("RRTdynamic")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
r(q_init)
r.solveAndDisplay("rm",1,0.02)
#t = ps.solve ()
#r.displayRoadmap("rm",0.005)
r.displayPathMap("rmPath",0,0.02)
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
pp(0)
pp.displayPath(1,blue)
r.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp (1)
#r.client.gui.removeFromGroup("rm",r.sceneName)
r.client.gui.removeFromGroup("rmPath",r.sceneName)
r.client.gui.removeFromGroup("path_1_root",r.sceneName)
#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path")
script/tests/robot_withBridge_path.py deleted 100644 → 0
View file @ 8c6eb02e
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
white=[1.0,1.0,1.0,1.0]
green=[0.23,0.75,0.2,0.5]
yellow=[0.85,0.75,0.15,1]
pink=[1,0.6,1,1]
orange=[1,0.42,0,1]
brown=[0.85,0.75,0.15,0.5]
blue = [0.0, 0.0, 0.8, 1.0]
grey = [0.7,0.7,0.7,1.0]
red = [0.8,0.0,0.0,1.0]
black=[0,0,0,1]
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'robot_test_trunk'
urdfNameRom = ['robot_test_lleg_rom','robot_test_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-6,6, -3, 3, 0, 2.5])
# limits zyx
rbprmBuilder.boundSO3([-1,1,-0.2,0.2,-0.2,0.2])
rbprmBuilder.setFilter(['robot_test_lleg_rom', 'robot_test_rleg_rom'])
rbprmBuilder.setNormalFilter('robot_test_lleg_rom', [0,0,1], 0.5)
rbprmBuilder.setNormalFilter('robot_test_rleg_rom', [0,0,1], 0.5)
rbprmBuilder.client.basic.robot.setDimensionExtraConfigSpace(3)
rbprmBuilder.client.basic.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver