Unverified Commit 0aed096a authored by stonneau's avatar stonneau Committed by GitHub
Browse files

Merge pull request #12 from stonneau/rbprm_v_1

rbprm corba works with latest devel branches of upper repositories
parents c9fab723 6c250cb8
......@@ -43,6 +43,7 @@ cType = "_3_DOF"
rLegId = 'rfleg'
rLeg = 'rf_haa_joint'
rfoot = 'rf_foot_joint'
#~ offset = [0.,-0.021,0.]
offset = [0.,-0.021,0.]
normal = [0,1,0]
legx = 0.02; legy = 0.02
......@@ -174,7 +175,7 @@ def genPlan(stepsize=0.06):
tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
global configs
start = time.clock()
configs = fullBody.interpolate(stepsize, 8, 0, filterStates = True, testReachability=False, quasiStatic=True)
configs = fullBody.interpolate(stepsize, 8, 0, filterStates = False, testReachability=False, quasiStatic=True)
end = time.clock()
print "Contact plan generated in " + str(end-start) + "seconds"
......
......@@ -38,7 +38,7 @@ q_init = rbprmBuilder.getCurrentConfig ();
q_init [0:3] = [-2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
q_goal = q_init [::]
q_goal [0:3] = [3, 0, 0.63]; r (q_goal)
#~ q_goal [0:3] = [-1, 0, 0.75]; r (q_goal)
#~ q_goal [0:3] = [-1.5, 0, 0.75]; r (q_goal)
# Choosing a path optimizer
ps.addPathOptimizer("RandomShortcut")
......@@ -101,7 +101,7 @@ cl.problem.selectProblem("rbprm_path")
rbprmBuilder2 = Robot ("toto")
ps2 = ProblemSolver( rbprmBuilder2 )
cl.problem.selectProblem("default")
cl.problem.movePathToProblem(8,"rbprm_path",rbprmBuilder.getAllJointNames())
cl.problem.movePathToProblem(8,"rbprm_path",rbprmBuilder.getAllJointNames()[1:])
r2 = Viewer (ps2, viewerClient=r.client)
r2(q_far)
......@@ -39,7 +39,7 @@ def load_obj(filename) :
if j!=1:
face[i][j] = int(face[i][j]) - 1
F.append(face)
fh.close()
return ObjectData(V, T, N, F)
def inequality(v, n):
......
......@@ -912,7 +912,7 @@ namespace hpp {
posConstraints.push_back(false);posConstraints.push_back(false);posConstraints.push_back(true);
rotConstraints.push_back(true);rotConstraints.push_back(true);rotConstraints.push_back(true);
const pinocchio::Frame effectorFrame = device->getFrameByName(limb->effector_.name());
pinocchio::JointPtr_t effectorJoint(new pinocchio::Joint(limb->effector_.joint()));
pinocchio::JointPtr_t effectorJoint= limb->effector_.joint();
proj->add(core::NumericalConstraint::create (constraints::Position::create("",fullBody()->device_,
effectorJoint,
effectorFrame.pinocchio().placement * globalFrame,
......
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