Commit 825c0587 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

polaris_scen

parent 1384a29e
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01])
rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
q0 = rbprmBuilder.getCurrentConfig ();
q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
q_goal = q_init [::]
q_init = rbprmBuilder.getCurrentConfig ();
q_init[0:3] = [0.36, -0.37772165525546453, 0.968450617921899]; r(q_init)
rbprmBuilder.setCurrentConfig (q_init); r (q_init)
#~ q_goal[0:3] = [1.2,-1,0.5]; r(q_goal)
#~ q_goal[0:3] = [0.9, -1.1, 0.6]; r(q_goal)
#~ q_goal[0:3] = [1.5, -1.1, 0.57]; r(q_goal)
q_goal[0:3] = [0.36, -1, 0.9]; r(q_goal)
ps.addPathOptimizer("RandomShortcut")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.2, 0.03, 0.00005])
afftool.setAffordanceConfig('Lean', [0.5, 0.05, 0.00005])
afftool.loadObstacleModel (packageName, "polaris", "planning", r)
#~ afftool.analyseAll()
#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
#~ afftool.visualiseAffordances('Lean', r, [1, 0, 0])
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.01)
t = ps.solve ()
print (t)
if isinstance(t, list):
t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
f = open('log.txt', 'a')
f.write("path computation " + str(t) + "\n")
f.close()
#~ print ("solving time " + str(t));
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
#~ pp (0)
#~ pp (1)
for i in range(1,10):
rbprmBuilder.client.basic.problem.optimizePath(i)
rob = rbprmBuilder.client.basic.robot
r(q_init)
q_loin = q_init[::]
q_loin[0:3] = [100,100,100]
r (q_loin)
#~ configs = []
#~ problem = ps.client.problem
#~ length = problem.pathLength (0)
#~ t = 0
#~ i = 0
#~ configs = []
#~ dt = 0.1 / length
#~ while t < length :
#~ q = rbprmBuilder.getCurrentConfig()
#~ q[0:9]= problem.configAtParam (0, t)[0:9]
#~ configs.append(q)
#~ t += dt
#~ i = i+1
#~
#~ i = 0;
#~ r(configs[i]); i = +1
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01])
rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
q0 = rbprmBuilder.getCurrentConfig ();
q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
q_goal = q_init [::]
q_init = rbprmBuilder.getCurrentConfig ();
q_init[0:3] = [0.36, -0.9940043559354331, 0.92]; r(q_init)
rbprmBuilder.setCurrentConfig (q_init); r (q_init)
#~ q_goal[0:3] = [1.2,-1,0.5]; r(q_goal)
#~ q_goal[0:3] = [0.9, -1.1, 0.6]; r(q_goal)
q_goal[0:3] = [1.5, -1.1, 0.57]; r(q_goal)
#~ q_goal[0:3] = [0.36, -1, 0.9]; r(q_goal)
ps.addPathOptimizer("RandomShortcut")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.2, 0.03, 0.00005])
afftool.setAffordanceConfig('Lean', [0.5, 0.05, 0.00005])
afftool.loadObstacleModel (packageName, "polaris", "planning", r)
#~ afftool.analyseAll()
#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
#~ afftool.visualiseAffordances('Lean', r, [1, 0, 0])
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.01)
t = ps.solve ()
print (t)
if isinstance(t, list):
t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
f = open('log.txt', 'a')
f.write("path computation " + str(t) + "\n")
f.close()
#~ print ("solving time " + str(t));
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
#~ pp (0)
#~ pp (1)
for i in range(1,10):
rbprmBuilder.client.basic.problem.optimizePath(i)
rob = rbprmBuilder.client.basic.robot
r(q_init)
q_loin = q_init[::]
q_loin[0:3] = [100,100,100]
r (q_loin)
#~ configs = []
#~ problem = ps.client.problem
#~ length = problem.pathLength (0)
#~ t = 0
#~ i = 0
#~ configs = []
#~ dt = 0.1 / length
#~ while t < length :
#~ q = rbprmBuilder.getCurrentConfig()
#~ q[0:9]= problem.configAtParam (0, t)[0:9]
#~ configs.append(q)
#~ t += dt
#~ i = i+1
#~
#~ i = 0;
#~ r(configs[i]); i = +1
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01])
rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
q0 = rbprmBuilder.getCurrentConfig ();
q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
q_goal = q_init [::]
q_init = rbprmBuilder.getCurrentConfig ();
q_init[0:3] = [1.1035428951774233,
-1.060021251429404,
0.68]; r(q_init)
rbprmBuilder.setCurrentConfig (q_init); r (q_init)
#~ q_goal[0:3] = [1.2,-1,0.5]; r(q_goal)
#~ q_goal[0:3] = [0.9, -1.1, 0.6]; r(q_goal)
q_goal[0:3] = [1.5, -1.1, 0.57]; r(q_goal)
#~ q_goal[0:3] = [0.36, -1, 0.9]; r(q_goal)
ps.addPathOptimizer("RandomShortcut")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.2, 0.03, 0.00005])
afftool.setAffordanceConfig('Lean', [0.5, 0.05, 0.00005])
afftool.loadObstacleModel (packageName, "polaris", "planning", r)
#~ afftool.analyseAll()
#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
#~ afftool.visualiseAffordances('Lean', r, [1, 0, 0])
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.01)
t = ps.solve ()
print (t)
if isinstance(t, list):
t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
f = open('log.txt', 'a')
f.write("path computation " + str(t) + "\n")
f.close()
#~ print ("solving time " + str(t));
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
#~ pp (0)
#~ pp (1)
for i in range(1,10):
rbprmBuilder.client.basic.problem.optimizePath(i)
rob = rbprmBuilder.client.basic.robot
r(q_init)
q_loin = q_init[::]
q_loin[0:3] = [100,100,100]
r (q_loin)
#~ configs = []
#~ problem = ps.client.problem
#~ length = problem.pathLength (0)
#~ t = 0
#~ i = 0
#~ configs = []
#~ dt = 0.1 / length
#~ while t < length :
#~ q = rbprmBuilder.getCurrentConfig()
#~ q[0:9]= problem.configAtParam (0, t)[0:9]
#~ configs.append(q)
#~ t += dt
#~ i = i+1
#~
#~ i = 0;
#~ r(configs[i]); i = +1
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.gepetto import Viewer
rootJointType = 'freeflyer'
packageName = 'hpp-rbprm-corba'
meshPackageName = 'hpp-rbprm-corba'
urdfName = 'hrp2_trunk_flexible'
urdfNameRoms = ['hrp2_larm_rom','hrp2_rarm_rom','hrp2_lleg_rom','hrp2_rleg_rom']
urdfSuffix = ""
srdfSuffix = ""
rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [0,2, -1.4, 1.01, 0, 1.01])
rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
#~ rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setAffordanceFilter('hrp2_rarm_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_larm_rom', ['Support','Lean'])
rbprmBuilder.setAffordanceFilter('hrp2_rleg_rom', ['Support'])
rbprmBuilder.setAffordanceFilter('hrp2_lleg_rom', ['Support'])
rbprmBuilder.boundSO3([-0.7,0.7,0,0,-0.0,0.0])
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
q0 = rbprmBuilder.getCurrentConfig ();
q_init = rbprmBuilder.getCurrentConfig (); r (q_init)
q_goal = q_init [::]
q_init = rbprmBuilder.getCurrentConfig ();
#~ q_init[0:3] = [0.36, -0.32, 1.01]; r(q_init)
q_init[0:3] = [0.36, 0, 1.01]; r(q_init)
rbprmBuilder.setCurrentConfig (q_init); r (q_init)
#~ q_goal[0:3] = [1.2,-1,0.5]; r(q_goal)
#~ q_goal[0:3] = [0.9, -1.1, 0.6]; r(q_goal)
#~ q_goal[0:3] = [1.5, -1.1, 0.5]; r(q_goal)
q_goal[0:3] = [0.36, -1, 0.9]; r(q_goal)
ps.addPathOptimizer("RandomShortcut")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.2, 0.03, 0.00005])
afftool.setAffordanceConfig('Lean', [0.5, 0.05, 0.00005])
afftool.loadObstacleModel (packageName, "polaris", "planning", r)
#~ afftool.analyseAll()
#~ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
#~ afftool.visualiseAffordances('Lean', r, [1, 0, 0])
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.01)
t = ps.solve ()
print (t)
if isinstance(t, list):
t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
f = open('log.txt', 'a')
f.write("path computation " + str(t) + "\n")
f.close()
#~ print ("solving time " + str(t));
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
#~ pp (0)
#~ pp (1)
for i in range(1,10):
rbprmBuilder.client.basic.problem.optimizePath(i)
rob = rbprmBuilder.client.basic.robot
r(q_init)
q_loin = q_init[::]
q_loin[0:3] = [100,100,100]
r (q_loin)
#~ configs = []
#~ problem = ps.client.problem
#~ length = problem.pathLength (0)
#~ t = 0
#~ i = 0
#~ configs = []
#~ dt = 0.1 / length
#~ while t < length :
#~ q = rbprmBuilder.getCurrentConfig()
#~ q[0:9]= problem.configAtParam (0, t)[0:9]
#~ configs.append(q)
#~ t += dt
#~ i = i+1
#~
#~ i = 0;
#~ r(configs[i]); i = +1
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
import polaris_hrp2_path_no_step as tp
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.setJointBounds ("base_joint_xyz", [-1,2, -2, 1, 0.5, 2.5])
ps = tp.ProblemSolver( fullBody )
r = tp.Viewer (ps)
#~ AFTER loading obstacles
#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,-0.105,0,]
rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "manipulability", 0.03)
lLegId = 'hrp2_lleg_rom'
lLeg = 'LLEG_JOINT0'
lLegOffset = [0,-0.105,0]
lLegNormal = [0,1,0]
lLegx = 0.09; lLegy = 0.05
fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, "manipulability", 0.03)
rarmId = 'hrp2_rarm_rom'
rarm = 'RARM_JOINT0'
rHand = 'RARM_JOINT5'
rArmOffset = [-0.05,-0.050,-0.050]
rArmNormal = [1,0,0]
rArmx = 0.024; rArmy = 0.024
fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 20000, "EFORT", 0.05, "_6_DOF", True)
larmId = 'hrp2_larm_rom'
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, 20000, "EFORT", 0.05, "_6_DOF", True)
#~
q_0 = fullBody.getCurrentConfig();
#~ fullBody.createOctreeBoxes(r.client.gui, 1, larmId, q_0,)
#~ fullBody.client.basic.robot.setJointConfig('LARM_JOINT0',[1])
#~ fullBody.client.basic.robot.setJointConfig('RARM_JOINT0',[-1])
confsize = len(tp.q_init)
q_init = [
#~ 0.12, -0.45, 0.95, 1.0, 0.0 , 0.0, 0.0, # Free flyer 0-6
0.36, 0, 1.01, 1.0, 0.0 , 0.0, 0.0, # Free flyer 0-6
0.0, 0.0, 0.0, 0.0, # CHEST HEAD 7-10
0.261799388, 0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17, # LARM 11-17
0.261799388, -0.174532925, 0.0, -1, 0.0, 0.0, 0.17, # RARM 18-24
0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0, # LLEG 25-30
0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0, # RLEG 31-36
]; r (q_init);
q_init[0:confsize] = tp.q_init[0:confsize]
q_goal = fullBody.getCurrentConfig(); q_goal[0:confsize] = tp.q_goal[0:confsize]
fullBody.setCurrentConfig (q_init)
#~ q_0 = fullBody.getCurrentConfig();
q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
fullBody.setCurrentConfig (q_goal)
#~ r(q_goal)
q_goal = fullBody.generateContacts(q_goal, [0,0,1])
#~ r(q_goal)
#~ gui = r.client.gui
#~ fullBody.setStartState(q_init,[rLegId,lLegId,rarmId,larmId])
fullBody.setStartState(q_init,[rLegId,lLegId,larmId])
fullBody.setEndState(q_goal,[rLegId,lLegId])
#~
#~ r(q_init)
configs = fullBody.interpolate(0.02, 10, 5, False)
#~ r.loadObstacleModel ('hpp-rbprm-corba', "polaris", "contact")
#~ configs = fullBody.interpolate(0.09)
#~ configs = fullBody.interpolate(0.08)
i = 0;
r (configs[i]); i=i+1; i-1
#~ q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
#~ fullBody.draw(q_0,r)
#~ fullBody.client.rbprm.rbprm.getOctreeTransform(larmId, q_0)
#~ problem = ps.client.problem
#~ length = problem.pathLength (0)
#~ t = 0
#~ i = 0
#~ configs = []
#~ dt = 0.1 / length
#~ while t < length :
#~ q = fullBody.getCurrentConfig()
#~ q[0:confsize] = problem.configAtParam (0, t)[0:confsize]
#~ configs.append(q)
#~ t += dt
#~ i = i+1
#~
i = 0;
fullBody.draw(configs[i],r); i=i+1; i-1
import datetime
now = datetime.datetime.now()
#~
f1 = open("polaris_hrp2"+str(now),"w+")
f1.write(str(configs))
f1.close()
#~ import hpp.gepetto.blender.exportmotion as em
#~ fullBody.exportAll(r, configs, "polaris_hrp2_OK"+str(now));
from hpp.gepetto import PathPlayer
pp = PathPlayer (fullBody.client.basic, r)
from hpp.corbaserver.rbprm.tools.cwc_trajectory_helper import step, clean,stats, saveAllData, play_traj
limbsCOMConstraints = { rLegId : {'file': "hrp2/RL_com.ineq", 'effector' : 'RLEG_JOINT5'},
lLegId : {'file': "hrp2/LL_com.ineq", 'effector' : 'LLEG_JOINT5'},
rarmId : {'file': "hrp2/RA_com.ineq", 'effector' : rHand},
larmId : {'file': "hrp2/LA_com.ineq", 'effector' : lHand} }
#~ fullBody.limbRRTFromRootPath(0,len(configs)-1,0,2)
from hpp.corbaserver.rbprm.tools.cwc_trajectory_helper import step, clean,stats, saveAllData, play_traj
from hpp.gepetto import PathPlayer
pp = PathPlayer (fullBody.client.basic, r)
def act(i, numOptim = 0, use_window = 0, friction = 0.5, optim_effectors = True, verbose = False, draw = False):
return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, 0.4, optim_effectors = optim_effectors, time_scale = 20., useCOMConstraints = True, use_window = use_window, verbose = verbose, draw = draw)
def play(frame_rate = 1./24.):
play_traj(fullBody,pp,frame_rate)
def saveAll(name):
saveAllData(fullBody, r, name)
for i in range(10,30): act(i,numOptim = 0, use_window = 0, friction = 1, optim_effectors = False, verbose = False, draw = False)
from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from hpp.gepetto import Viewer
import polaris_hrp2_path_2 as tp
packageName = "hrp2_14_description"
meshPackageName = "hrp2_14_description"
rootJointType = "freeflyer"
##
# Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"