Commit a1a42c09 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

remove dependancie to reachability package

parent 834cdcaa
......@@ -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)
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment