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Jason Chemin
hpp-rbprm-corba
Commits
6ad6ecf5
Commit
6ad6ecf5
authored
Feb 09, 2017
by
Steve Tonneau
Browse files
updated scenarios to gepetto viewer api updates
parent
e40047bd
Changes
8
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script/scenarios/demos/darpa_hyq.py
View file @
6ad6ecf5
...
...
@@ -33,7 +33,7 @@ fullBody.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0.3, 4])
nbSamples
=
20000
ps
=
tp
.
ProblemSolver
(
fullBody
)
r
=
tp
.
Viewer
(
ps
)
r
=
tp
.
Viewer
(
ps
,
viewerClient
=
tp
.
r
.
client
)
rootName
=
'base_joint_xyz'
...
...
script/scenarios/demos/darpa_hyq_path.py
View file @
6ad6ecf5
...
...
@@ -95,6 +95,6 @@ rbprmBuilder2 = Robot ("toto")
ps2
=
ProblemSolver
(
rbprmBuilder2
)
cl
.
problem
.
selectProblem
(
"default"
)
cl
.
problem
.
movePathToProblem
(
3
,
"rbprm_path"
,
rbprmBuilder
.
getAllJointNames
())
r2
=
Viewer
(
ps2
)
r2
=
Viewer
(
ps2
,
viewerClient
=
r
.
client
)
r2
(
q_far
)
script/scenarios/demos/ground_crouch_hyq_interp.py
View file @
6ad6ecf5
...
...
@@ -32,7 +32,7 @@ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
nbSamples
=
20000
ps
=
tp
.
ProblemSolver
(
fullBody
)
r
=
tp
.
Viewer
(
ps
)
r
=
tp
.
Viewer
(
ps
,
viewerClient
=
tp
.
r
.
client
)
rootName
=
'base_joint_xyz'
...
...
script/scenarios/demos/ground_crouch_hyq_interp_bridge.py
View file @
6ad6ecf5
...
...
@@ -32,7 +32,7 @@ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
nbSamples
=
20000
ps
=
tp
.
ProblemSolver
(
fullBody
)
r
=
tp
.
Viewer
(
ps
)
r
=
tp
.
Viewer
(
ps
,
viewerClient
=
tp
.
r
.
client
)
rootName
=
'base_joint_xyz'
...
...
script/scenarios/demos/ground_crouch_hyq_path.py
View file @
6ad6ecf5
...
...
@@ -90,5 +90,5 @@ rbprmBuilder2 = Robot ("toto")
ps2
=
ProblemSolver
(
rbprmBuilder2
)
cl
.
problem
.
selectProblem
(
"default"
)
cl
.
problem
.
movePathToProblem
(
3
,
"rbprm_path"
,
rbprmBuilder
.
getAllJointNames
())
r2
=
Viewer
(
ps2
)
r2
=
Viewer
(
ps2
,
viewerClient
=
r
.
client
)
r2
(
q_far
)
script/scenarios/demos/ground_crouch_hyq_path_bridge.py
View file @
6ad6ecf5
...
...
@@ -94,8 +94,8 @@ for i in range(1,10):
cl
=
Client
()
cl
.
problem
.
selectProblem
(
"rbprm_path"
)
rbprmBuilder2
=
Robot
(
"toto"
)
ps2
=
ProblemSolver
(
rbprmBuilder2
)
ps2
=
ProblemSolver
(
rbprmBuilder2
)
cl
.
problem
.
selectProblem
(
"default"
)
cl
.
problem
.
movePathToProblem
(
3
,
"rbprm_path"
,
rbprmBuilder
.
getAllJointNames
())
r2
=
Viewer
(
ps2
)
r2
=
Viewer
(
ps2
,
viewerClient
=
r
.
client
)
r2
(
q_far
)
script/scenarios/demos/stair_bauzil_hrp2_interp.py
View file @
6ad6ecf5
...
...
@@ -23,7 +23,7 @@ fullBody.setJointBounds ("base_joint_xyz", [-0.135,2, -1, 1, 0, 2.2])
ps
=
tp
.
ProblemSolver
(
fullBody
)
r
=
tp
.
Viewer
(
ps
)
r
=
tp
.
Viewer
(
ps
,
viewerClient
=
tp
.
r
.
client
)
#~ AFTER loading obstacles
rLegId
=
'0rLeg'
...
...
script/scenarios/demos/stair_bauzil_hrp2_path.py
View file @
6ad6ecf5
...
...
@@ -102,7 +102,7 @@ rbprmBuilder2 = Robot ("toto")
ps2
=
ProblemSolver
(
rbprmBuilder2
)
cl
.
problem
.
selectProblem
(
"default"
)
cl
.
problem
.
movePathToProblem
(
1
,
"rbprm_path"
,
rbprmBuilder
.
getAllJointNames
())
r2
=
Viewer
(
ps2
)
r2
=
Viewer
(
ps2
,
viewerClient
=
r
.
client
)
r
.
client
.
gui
.
setVisibility
(
"toto"
,
"OFF"
)
r
.
client
.
gui
.
setVisibility
(
"hrp2_trunk_flexible"
,
"OFF"
)
#~ r2(q_far)
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