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Jason Chemin
hpp-rbprm-corba
Commits
a1a42c09
Commit
a1a42c09
authored
Apr 11, 2018
by
Pierre Fernbach
Browse files
remove dependancie to reachability package
parent
834cdcaa
Changes
1
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Inline
Side-by-side
script/dynamic/darpa_hrp2_path.py
View file @
a1a42c09
...
...
@@ -6,7 +6,8 @@ from hpp.gepetto import Viewer
import
time
import
math
import
omniORB.any
from
planning.configs.darpa
import
*
from
hpp.corbaserver
import
Client
from
hpp.corbaserver.robot
import
Robot
as
Parent
...
...
@@ -27,7 +28,7 @@ class Robot (Parent):
self
.
load
=
load
MU
=
0.5
rootJointType
=
'freeflyer'
packageName
=
'hpp-rbprm-corba'
meshPackageName
=
'hpp-rbprm-corba'
...
...
@@ -82,7 +83,7 @@ r = Viewer (ps,displayArrows = True)
from
hpp.corbaserver.affordance.affordance
import
AffordanceTool
afftool
=
AffordanceTool
()
afftool
.
setAffordanceConfig
(
'Support'
,
[
0.5
,
0.03
,
0.005
])
afftool
.
loadObstacleModel
(
packageName
,
ENV_NAME
,
ENV_PREFIX
,
r
,
reduceSizes
=
[
0.14
,
0
])
afftool
.
loadObstacleModel
(
packageName
,
"darpa_no_mid"
,
"planning"
,
r
,
reduceSizes
=
[
0.14
,
0
])
#r.loadObstacleModel (packageName, "ground", "planning")
afftool
.
visualiseAffordances
(
'Support'
,
r
,
[
0.25
,
0.5
,
0.5
])
r
.
addLandmark
(
r
.
sceneName
,
1
)
...
...
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