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Jason Chemin
hpp-rbprm-corba
Commits
707531a2
Commit
707531a2
authored
Jan 18, 2019
by
Pierre Fernbach
Browse files
[script] update hrp2_stairs script
parent
523b464e
Changes
1
Hide whitespace changes
Inline
Side-by-side
script/scenarios/sandbox/stair_bauzil_hrp2_interp.py
View file @
707531a2
from
hpp.corbaserver.rbprm.rbprmbuilder
import
Builder
from
hpp.corbaserver.rbprm.rbprmfullbody
import
FullBody
from
hpp.corbaserver.rbprm.hrp2
import
Robot
from
hpp.gepetto
import
Viewer
import
stair_bauzil_hrp2_path
as
tp
import
time
packageName
=
"hrp2_14_description"
meshPackageName
=
"hrp2_14_description"
rootJointType
=
"freeflyer"
##
# Information to retrieve urdf and srdf files.
urdfName
=
"hrp2_14"
urdfSuffix
=
"_reduced"
srdfSuffix
=
""
fullBody
=
FullBody
()
fullBody
.
loadFullBodyModel
(
urdfName
,
rootJointType
,
meshPackageName
,
packageName
,
urdfSuffix
,
srdfSuffix
)
fullBody
=
Robot
()
fullBody
.
setJointBounds
(
"root_joint"
,
[
-
0.135
,
2
,
-
1
,
1
,
0
,
2.2
])
...
...
@@ -27,39 +14,13 @@ r = tp.Viewer (ps, viewerClient=tp.r.client)
cType
=
"_6_DOF"
#~ AFTER loading obstacles
rLegId
=
'0rLeg'
rLeg
=
'RLEG_JOINT0'
rLegOffset
=
[
0
,
0
,
-
0.105
]
#~ rLegNormal = [0,1,0]
rLegNormal
=
[
0
,
0
,
1
]
rLegx
=
0.09
;
rLegy
=
0.05
fullBody
.
addLimb
(
rLegId
,
rLeg
,
''
,
rLegOffset
,
rLegNormal
,
rLegx
,
rLegy
,
10000
,
"manipulability"
,
0.2
,
cType
)
lLegId
=
'1lLeg'
lLeg
=
'LLEG_JOINT0'
lLegOffset
=
[
0
,
0
,
-
0.105
]
#~ lLegNormal = [0,1,0]
lLegNormal
=
[
0
,
0
,
1
]
lLegx
=
0.09
;
lLegy
=
0.05
fullBody
.
addLimb
(
lLegId
,
lLeg
,
''
,
lLegOffset
,
rLegNormal
,
lLegx
,
lLegy
,
10000
,
"manipulability"
,
0.2
,
cType
)
rarmId
=
'3Rarm'
rarm
=
'RARM_JOINT0'
rHand
=
'RARM_JOINT5'
rArmOffset
=
[
0
,
0
,
-
0.1
]
rArmNormal
=
[
0
,
0
,
1
]
rArmx
=
0.024
;
rArmy
=
0.024
#disabling collision for hook
fullBody
.
addLimb
(
rarmId
,
rarm
,
rHand
,
rArmOffset
,
rArmNormal
,
rArmx
,
rArmy
,
10000
,
"manipulability"
,
0.1
,
"_6_DOF"
,
True
)
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rLeg
,
''
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
10000
,
"manipulability"
,
0.2
,
cType
)
fullBody
.
addLimb
(
fullBody
.
lLegId
,
fullBody
.
lLeg
,
''
,
fullBody
.
lLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
lLegx
,
fullBody
.
lLegy
,
10000
,
"manipulability"
,
0.2
,
cType
)
fullBody
.
addLimb
(
fullBody
.
rarmId
,
fullBody
.
rarm
,
fullBody
.
rHand
,
fullBody
.
rArmOffset
,
fullBody
.
rArmNormal
,
fullBody
.
rArmx
,
fullBody
.
rArmy
,
10000
,
"manipulability"
,
0.1
,
"_6_DOF"
,
True
)
#~ AFTER loading obstacles
larmId
=
'4Larm'
larm
=
'LARM_JOINT0'
lHand
=
'LARM_JOINT5'
lArmOffset
=
[
-
0.05
,
-
0.050
,
-
0.050
]
lArmNormal
=
[
1
,
0
,
0
]
lArmx
=
0.024
;
lArmy
=
0.024
#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.05, "_6_DOF", True)
rKneeId
=
'0RKnee'
...
...
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