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Guilhem Saurel
hpp-rbprm-corba
Commits
9fde602f
Commit
9fde602f
authored
Mar 23, 2020
by
Pierre Fernbach
Browse files
[Scripts] add demos for bauzil with small obstacles on the floor
parent
5c6019ff
Changes
3
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Inline
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src/CMakeLists.txt
View file @
9fde602f
...
...
@@ -142,7 +142,9 @@ SET(${PROJECT_NAME}_PYTHON_SCENARIOS_DEMOS
talos_navBauzil_hard_path.py
talos_navBauzil_hard.py
talos_navBauzil_path.py
talos_navBauzil_obstacles_path.py
talos_navBauzil.py
talos_navBauzil_obstacles.py
talos_plateformes_path.py
talos_plateformes.py
talos_stairs10_path.py
...
...
src/hpp/corbaserver/rbprm/scenarios/demos/talos_navBauzil_obstacles.py
0 → 100644
View file @
9fde602f
from
hpp.corbaserver.rbprm.scenarios.demos.talos_navBauzil_obstacles_path
import
PathPlanner
from
hpp.corbaserver.rbprm.scenarios.talos_contact_generator
import
TalosContactGenerator
class
ContactGenerator
(
TalosContactGenerator
):
def
__init__
(
self
):
super
().
__init__
(
PathPlanner
())
self
.
robustness
=
2.
def
load_fullbody
(
self
):
super
().
load_fullbody
()
self
.
fullbody
.
nbSamples
=
100000
self
.
fullbody
.
limbs_names
=
[
self
.
fullbody
.
lLegId
,
self
.
fullbody
.
rLegId
]
# left feet first on this scenario
if
__name__
==
"__main__"
:
cg
=
ContactGenerator
()
cg
.
run
()
src/hpp/corbaserver/rbprm/scenarios/demos/talos_navBauzil_obstacles_path.py
0 → 100644
View file @
9fde602f
from
hpp.corbaserver.rbprm.scenarios.talos_path_planner
import
TalosPathPlanner
class
PathPlanner
(
TalosPathPlanner
):
def
load_rbprm
(
self
):
from
talos_rbprm.talos_abstract
import
Robot
Robot
.
urdfName
=
"talos_trunk_large"
# load the model with conservative bounding boxes for trunk
self
.
robot_node_name
=
"talos_trunk_large"
self
.
rbprmBuilder
=
Robot
()
def
init_problem
(
self
):
super
().
init_problem
()
# greatly increase the number of loops of the random shortcut
self
.
ps
.
setParameter
(
"PathOptimization/RandomShortcut/NumberOfLoops"
,
100
)
# force the base orientation to follow the direction of motion along the Z axis
self
.
ps
.
setParameter
(
"Kinodynamic/forceYawOrientation"
,
True
)
def
run
(
self
):
self
.
init_problem
()
self
.
root_translation_bounds
=
[
-
1.5
,
4
,
0.
,
3.3
,
self
.
rbprmBuilder
.
ref_height
,
self
.
rbprmBuilder
.
ref_height
]
self
.
set_joints_bounds
()
self
.
q_init
[:
2
]
=
[
-
0.9
,
1.7
]
# Constraint the initial orientation when forceYawOrientation = True, expressed as a 3D vector (x,y,z)
self
.
q_init
[
-
6
:
-
3
]
=
[
0.07
,
0
,
0
]
self
.
q_goal
[:
2
]
=
[
2
,
2.6
]
self
.
init_viewer
(
"multicontact/floor_bauzil_obstacles"
,
visualize_affordances
=
[
"Support"
],
reduce_sizes
=
[
0.02
,
0.
,
0.
])
self
.
init_planner
()
self
.
solve
()
self
.
display_path
()
# self.play_path()
self
.
hide_rom
()
if
__name__
==
"__main__"
:
planner
=
PathPlanner
()
planner
.
run
()
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