Commit 9916a7bd authored by Steve Tonneau's avatar Steve Tonneau
Browse files

reenabling collision tests for end effector contacts. working for hyq and hrp-2 (no arm)

parent 2c917f62
......@@ -38,37 +38,28 @@ rLeg = 'rf_haa_joint'
# Last joint of the limb, as in urdf file
rfoot = 'rf_foot_joint'
# Specifying the distance between last joint and contact surface
rLegOffset = [0.,0,0.]
offset = [0.,-0.021,0.]
# Specifying the contact surface direction when the limb is in rest pose
rLegNormal = [0,1,0]
normal = [0,1,0]
# Specifying the rectangular contact surface length
rLegx = 0.02; rLegy = 0.02
legx = 0.02; legy = 0.02
# remaining parameters are the chosen heuristic (here, manipulability), and the resolution of the octree (here, 10 cm).
fullBody.addLimb(rLegId,rLeg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "manipulability", 0.1, cType)
fullBody.addLimb(rLegId,rLeg,rfoot,offset,normal, legx, legy, nbSamples, "manipulability", 0.1, cType)
lLegId = 'lhleg'
lLeg = 'lh_haa_joint'
lfoot = 'lh_foot_joint'
lLegOffset = [0,0,0]
lLegNormal = [0,1,0]
lLegx = 0.02; lLegy = 0.02
fullBody.addLimb(lLegId,lLeg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "manipulability", 0.05, cType)
fullBody.addLimb(lLegId,lLeg,lfoot,offset,normal, legx, legy, nbSamples, "manipulability", 0.05, cType)
rarmId = 'rhleg'
rarm = 'rh_haa_joint'
rHand = 'rh_foot_joint'
rArmOffset = [0.,0,-0.]
rArmNormal = [0,1,0]
rArmx = 0.02; rArmy = 0.02
fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, "manipulability", 0.05, cType)
fullBody.addLimb(rarmId,rarm,rHand,offset,normal, legx, legy, nbSamples, "manipulability", 0.05, cType)
larmId = 'lfleg'
larm = 'lf_haa_joint'
lHand = 'lf_foot_joint'
lArmOffset = [0.,0,-0.]
lArmNormal = [0,1,0]
lArmx = 0.02; lArmy = 0.02
fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, "forward", 0.05, cType)
fullBody.addLimb(larmId,larm,lHand,offset,normal, legx, legy, nbSamples, "forward", 0.05, cType)
q_0 = fullBody.getCurrentConfig();
q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7]
......
......@@ -57,4 +57,4 @@ t = ps.solve ()
# Playing the computed path
from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)
pp (1)
#~ pp (1)
......@@ -30,13 +30,13 @@ OMNIIDL_INCLUDE_DIRECTORIES(
INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
FOREACH(IDL ${IDL_SOURCES})
GENERATE_IDL_FILE (${IDL}
GENERATE_IDL_CPP (${IDL}
${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
)
ENDFOREACH()
FOREACH(IDL ${HPP_CORBASERVER_IDL_SOURCES})
GENERATE_IDL_FILE (${IDL}
GENERATE_IDL_CPP (${IDL}
${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
)
ENDFOREACH()
......
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