Commit 707531a2 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[script] update hrp2_stairs script

parent 523b464e
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.corbaserver.rbprm.hrp2 import Robot
from hpp.gepetto import Viewer
import stair_bauzil_hrp2_path as tp
import time
packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
# Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""
fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody = Robot ()
fullBody.setJointBounds ("root_joint", [-0.135,2, -1, 1, 0, 2.2])
......@@ -27,39 +14,13 @@ r = tp.Viewer (ps, viewerClient=tp.r.client)
cType = "_6_DOF"
#~ AFTER loading obstacles
rLegId = '0rLeg'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,0,-0.105]
#~ rLegNormal = [0,1,0]
rLegNormal = [0,0,1]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "manipulability", 0.2, cType)
lLegId = '1lLeg'
lLeg = 'LLEG_JOINT0'
lLegOffset = [0,0,-0.105]
#~ lLegNormal = [0,1,0]
lLegNormal = [0,0,1]
lLegx = 0.09; lLegy = 0.05
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, "manipulability", 0.2, cType)
rarmId = '3Rarm'
rarm = 'RARM_JOINT0'
rHand = 'RARM_JOINT5'
rArmOffset = [0,0,-0.1]
rArmNormal = [0,0,1]
rArmx = 0.024; rArmy = 0.024
#disabling collision for hook
fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
fullBody.addLimb(fullBody.rLegId,fullBody.rLeg,'',fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, 10000, "manipulability", 0.2, cType)
fullBody.addLimb(fullBody.lLegId,fullBody.lLeg,'',fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, 10000, "manipulability", 0.2, cType)
fullBody.addLimb(fullBody.rarmId,fullBody.rarm,fullBody.rHand,fullBody.rArmOffset,fullBody.rArmNormal, fullBody.rArmx, fullBody.rArmy, 10000, "manipulability", 0.1, "_6_DOF", True)
#~ AFTER loading obstacles
larmId = '4Larm'
larm = 'LARM_JOINT0'
lHand = 'LARM_JOINT5'
lArmOffset = [-0.05,-0.050,-0.050]
lArmNormal = [1,0,0]
lArmx = 0.024; lArmy = 0.024
#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "manipulability", 0.05, "_6_DOF", True)
rKneeId = '0RKnee'
......
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