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Jason Chemin
hpp-rbprm-corba
Commits
9b05c03d
Commit
9b05c03d
authored
Jun 28, 2018
by
t steve
Browse files
darha_hyq functionnal
parent
6bd845a6
Changes
2
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script/scenarios/demos/darpa_hyq.py
View file @
9b05c03d
...
...
@@ -50,27 +50,27 @@ legx = 0.02; legy = 0.02
def
addLimbDb
(
limbId
,
heuristicName
,
loadValues
=
True
,
disableEffectorCollision
=
False
):
fullBody
.
addLimbDatabase
(
str
(
db_dir
+
limbId
+
'.db'
),
limbId
,
heuristicName
,
loadValues
,
disableEffectorCollision
)
fullBody
.
addLimb
(
rLegId
,
rLeg
,
rfoot
,
offset
,
normal
,
legx
,
legy
,
nbSamples
,
"
jointlimits
"
,
0.1
,
cType
)
fullBody
.
addLimb
(
rLegId
,
rLeg
,
rfoot
,
offset
,
normal
,
legx
,
legy
,
nbSamples
,
"
random
"
,
0.1
,
cType
)
lLegId
=
'lhleg'
lLeg
=
'lh_haa_joint'
lfoot
=
'lh_foot_joint'
fullBody
.
addLimb
(
lLegId
,
lLeg
,
lfoot
,
offset
,
normal
,
legx
,
legy
,
nbSamples
,
"
jointlimits
"
,
0.05
,
cType
)
fullBody
.
addLimb
(
lLegId
,
lLeg
,
lfoot
,
offset
,
normal
,
legx
,
legy
,
nbSamples
,
"
random
"
,
0.05
,
cType
)
#~
rarmId
=
'rhleg'
rarm
=
'rh_haa_joint'
rHand
=
'rh_foot_joint'
fullBody
.
addLimb
(
rarmId
,
rarm
,
rHand
,
offset
,
normal
,
legx
,
legy
,
nbSamples
,
"
jointlimits
"
,
0.05
,
cType
)
fullBody
.
addLimb
(
rarmId
,
rarm
,
rHand
,
offset
,
normal
,
legx
,
legy
,
nbSamples
,
"
random
"
,
0.05
,
cType
)
larmId
=
'lfleg'
larm
=
'lf_haa_joint'
lHand
=
'lf_foot_joint'
fullBody
.
addLimb
(
larmId
,
larm
,
lHand
,
offset
,
normal
,
legx
,
legy
,
nbSamples
,
"
jointlimits
"
,
0.05
,
cType
)
fullBody
.
addLimb
(
larmId
,
larm
,
lHand
,
offset
,
normal
,
legx
,
legy
,
nbSamples
,
"
random
"
,
0.05
,
cType
)
fullBody
.
runLimbSampleAnalysis
(
rLegId
,
"jointLimitsDistance"
,
True
)
fullBody
.
runLimbSampleAnalysis
(
lLegId
,
"jointLimitsDistance"
,
True
)
fullBody
.
runLimbSampleAnalysis
(
rarmId
,
"jointLimitsDistance"
,
True
)
fullBody
.
runLimbSampleAnalysis
(
larmId
,
"jointLimitsDistance"
,
True
)
#~
fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
#~
fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
#~
fullBody.runLimbSampleAnalysis(rarmId, "jointLimitsDistance", True)
#~
fullBody.runLimbSampleAnalysis(larmId, "jointLimitsDistance", True)
#~ q_init = hyq_ref[:]; q_init[0:7] = tp.q_init[0:7];
#~ q_goal = hyq_ref[:]; q_goal[0:7] = tp.q_goal[0:7];
...
...
@@ -174,7 +174,7 @@ def genPlan(stepsize=0.06):
tp
.
r
.
client
.
gui
.
setVisibility
(
"hyq_trunk_large"
,
"OFF"
)
global
configs
start
=
time
.
clock
()
configs
=
fullBody
.
interpolate
(
stepsize
,
5
,
5
,
filterStates
=
True
,
testReachability
=
False
,
quasiStatic
=
Fals
e
)
configs
=
fullBody
.
interpolate
(
stepsize
,
5
,
20
,
filterStates
=
True
,
testReachability
=
False
,
quasiStatic
=
Tru
e
)
end
=
time
.
clock
()
print
"Contact plan generated in "
+
str
(
end
-
start
)
+
"seconds"
...
...
@@ -211,4 +211,4 @@ def e(step = 0.5):
print
"Root path generated in "
+
str
(
tp
.
t
)
+
" ms."
#~ d();e()
d
(
0.04
);
e
(
0.01
)
d
(
0.
0
04
);
e
(
0.01
)
script/scenarios/demos/darpa_hyq_path.py
View file @
9b05c03d
...
...
@@ -46,7 +46,7 @@ ps.addGoalConfig (q_goal)
from
hpp.corbaserver.affordance.affordance
import
AffordanceTool
afftool
=
AffordanceTool
()
afftool
.
loadObstacleModel
(
packageName
,
"darpa"
,
"planning"
,
r
)
afftool
.
loadObstacleModel
(
packageName
,
"darpa"
,
"planning"
,
r
,
reduceSizes
=
[
0.05
,
0.
,
0.
]
)
#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
# Choosing RBPRM shooter and path validation methods.
...
...
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