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Guilhem Saurel
hpp-rbprm-corba
Commits
6a40b65c
Commit
6a40b65c
authored
Mar 26, 2020
by
Pierre Fernbach
Browse files
[Scripts] when changing the ROM names, correctly update the name in the robot
parent
85b703fc
Changes
3
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Inline
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src/hpp/corbaserver/rbprm/scenarios/demos/talos_stairs10_path.py
View file @
6a40b65c
...
...
@@ -7,12 +7,15 @@ class PathPlanner(TalosPathPlanner):
# select ROM model with really conservative ROM shapes
Robot
.
urdfName
=
"talos_trunk_large_reducedROM"
self
.
robot_node_name
=
"talos_trunk_large_reducedROM"
Robot
.
urdfNameRom
=
[
'talos_lleg_rom_reduced'
,
'talos_rleg_rom_reduced'
]
Robot
.
rLegId
=
'talos_rleg_rom_reduced'
Robot
.
lLegId
=
'talos_lleg_rom_reduced'
Robot
.
urdfNameRom
=
[
Robot
.
lLegId
,
Robot
.
rLegId
]
self
.
used_limbs
=
Robot
.
urdfNameRom
self
.
rbprmBuilder
=
Robot
()
# As the ROM names have changed, we need to set this values again (otherwise it's automatically done)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
'talos_lleg_rom_reduced'
,
self
.
rbprmBuilder
.
ref_EE_lLeg
)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
'talos_rleg_rom_reduced'
,
self
.
rbprmBuilder
.
ref_EE_rLeg
)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
Robot
.
lLegId
,
self
.
rbprmBuilder
.
ref_EE_lLeg
)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
Robot
.
rLegId
,
self
.
rbprmBuilder
.
ref_EE_rLeg
)
def
init_problem
(
self
):
super
().
init_problem
()
...
...
src/hpp/corbaserver/rbprm/scenarios/memmo/talos_bauzil_with_stairs_path.py
View file @
6a40b65c
...
...
@@ -26,10 +26,12 @@ class PathPlanner(TalosPathPlanner):
Robot
.
urdfName
=
"talos_trunk_large_reducedROM"
self
.
robot_node_name
=
"talos_trunk_large_reducedROM"
# select conservative ROM for feet
Robot
.
urdfNameRom
+=
[
'talos_lleg_rom_reduced'
,
'talos_rleg_rom_reduced'
]
Robot
.
rLegId
=
'talos_rleg_rom_reduced'
Robot
.
lLegId
=
'talos_lleg_rom_reduced'
Robot
.
urdfNameRom
=
[
Robot
.
lLegId
,
Robot
.
rLegId
]
self
.
rbprmBuilder
=
Robot
()
self
.
rbprmBuilder
.
setReferenceEndEffector
(
'talos_lleg_rom_reduced'
,
self
.
rbprmBuilder
.
ref_EE_lLeg
)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
'talos_rleg_rom_reduced'
,
self
.
rbprmBuilder
.
ref_EE_rLeg
)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
Robot
.
lLegId
,
self
.
rbprmBuilder
.
ref_EE_lLeg
)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
Robot
.
rLegId
,
self
.
rbprmBuilder
.
ref_EE_rLeg
)
def
compute_extra_config_bounds
(
self
):
# bounds for the extradof : by default use v_max/a_max on x and y axis and a large value on z axis
...
...
src/hpp/corbaserver/rbprm/scenarios/memmo/talos_stairs10_random_path.py
View file @
6a40b65c
...
...
@@ -37,12 +37,14 @@ class PathPlanner(TalosPathPlanner):
# select ROM model with really conservative ROM shapes
Robot
.
urdfName
=
"talos_trunk_large_reducedROM"
self
.
robot_node_name
=
"talos_trunk_large_reducedROM"
Robot
.
urdfNameRom
=
[
'talos_lleg_rom_reduced'
,
'talos_rleg_rom_reduced'
]
Robot
.
rLegId
=
'talos_rleg_rom_reduced'
Robot
.
lLegId
=
'talos_lleg_rom_reduced'
Robot
.
urdfNameRom
=
[
Robot
.
lLegId
,
Robot
.
rLegId
]
self
.
used_limbs
=
Robot
.
urdfNameRom
self
.
rbprmBuilder
=
Robot
()
# As the ROM names have changed, we need to set this values again (otherwise it's automatically done)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
'talos_lleg_rom_reduced'
,
self
.
rbprmBuilder
.
ref_EE_lLeg
)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
'talos_rleg_rom_reduced'
,
self
.
rbprmBuilder
.
ref_EE_rLeg
)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
Robot
.
lLegId
,
self
.
rbprmBuilder
.
ref_EE_lLeg
)
self
.
rbprmBuilder
.
setReferenceEndEffector
(
Robot
.
rLegId
,
self
.
rbprmBuilder
.
ref_EE_rLeg
)
def
set_random_configs
(
self
):
from
hpp.corbaserver.rbprm.tools.sampleRotation
import
sampleRotationForConfig
...
...
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