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Guilhem Saurel
hpp-rbprm-corba
Commits
c8e717ed
Commit
c8e717ed
authored
Jan 21, 2020
by
Pierre Fernbach
Browse files
Refactor python3 : fix relative imports
parent
6b48f744
Changes
116
Hide whitespace changes
Inline
Side-by-side
script/scenarios/sandbox/dynamic/flatGround_hrp2_interpSTATIC_testTransition.py
View file @
c8e717ed
...
...
@@ -5,7 +5,7 @@ import time
from
constraint_to_dae
import
*
from
hpp.corbaserver.rbprm.rbprmstate
import
State
,
StateHelper
from
hpp.corbaserver.rbprm.tools.display_tools
import
*
import
flatGround_hrp2_pathKino
as
tp
from
.
import
flatGround_hrp2_pathKino
as
tp
import
time
import
numpy
as
np
tPlanning
=
tp
.
tPlanning
...
...
@@ -175,7 +175,7 @@ mid_sid = fullBody.addState(q,[lLegId,rLegId])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayerHrp2
from
.
import
fullBodyPlayerHrp2
tStart
=
time
.
time
()
configsFull
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
0
,
filterStates
=
True
,
testReachability
=
False
,
quasiStatic
=
False
)
...
...
script/scenarios/sandbox/dynamic/flatGround_hyq_interpKino.py
View file @
c8e717ed
...
...
@@ -7,7 +7,7 @@ from constraint_to_dae import *
from
hpp.corbaserver.rbprm.rbprmstate
import
State
,
StateHelper
from
hpp.corbaserver.rbprm.tools.display_tools
import
*
#calling script darpa_hyq_path to compute root path
import
flatGround_hyq_pathKino
as
tp
from
.
import
flatGround_hyq_pathKino
as
tp
from
os
import
environ
ins_dir
=
environ
[
'DEVEL_DIR'
]
...
...
script/scenarios/sandbox/dynamic/flat_ground_hrp2_wb.py
View file @
c8e717ed
from
flatGround_hrp2_interp
import
*
from
.
flatGround_hrp2_interp
import
*
print
(
"# generating MUSCOD problem #"
)
print
(
"####################################"
)
...
...
script/scenarios/sandbox/dynamic/plateform_hand_hrp2_interp.py
View file @
c8e717ed
...
...
@@ -5,7 +5,7 @@ import time
from
constraint_to_dae
import
*
from
hpp.corbaserver.rbprm.rbprmstate
import
State
,
StateHelper
from
hpp.corbaserver.rbprm.tools.display_tools
import
*
import
plateform_hand_hrp2_path
as
tp
from
.
import
plateform_hand_hrp2_path
as
tp
import
time
tPlanning
=
tp
.
tPlanning
...
...
@@ -144,7 +144,7 @@ mid_sid = fullBody.addState(q,[lLegId,rLegId])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayerHrp2
from
.
import
fullBodyPlayerHrp2
tStart
=
time
.
time
()
...
...
script/scenarios/sandbox/dynamic/plateform_hrp2_interp_testTransition.py
View file @
c8e717ed
...
...
@@ -5,7 +5,7 @@ import time
from
constraint_to_dae
import
*
from
hpp.corbaserver.rbprm.rbprmstate
import
State
,
StateHelper
from
hpp.corbaserver.rbprm.tools.display_tools
import
*
import
plateform_hrp2_path
as
tp
from
.
import
plateform_hrp2_path
as
tp
import
time
tPlanning
=
tp
.
tPlanning
...
...
@@ -134,7 +134,7 @@ mid_sid = fullBody.addState(q,[lLegId,rLegId])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayerHrp2
from
.
import
fullBodyPlayerHrp2
"""
tStart = time.time()
...
...
script/scenarios/sandbox/dynamic/plateform_hrp2_interp_testTransition_muscod.py
View file @
c8e717ed
...
...
@@ -5,7 +5,7 @@ import time
from
constraint_to_dae
import
*
from
hpp.corbaserver.rbprm.rbprmstate
import
State
,
StateHelper
from
hpp.corbaserver.rbprm.tools.display_tools
import
*
import
plateform_hrp2_path
as
tp
from
.
import
plateform_hrp2_path
as
tp
import
time
tPlanning
=
tp
.
tPlanning
...
...
@@ -134,7 +134,7 @@ mid_sid = fullBody.addState(q,[lLegId,rLegId])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayerHrp2
from
.
import
fullBodyPlayerHrp2
"""
tStart = time.time()
...
...
script/scenarios/sandbox/dynamic/prepareJump_hyq_interpKino.py
View file @
c8e717ed
...
...
@@ -5,7 +5,7 @@ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from
hpp.gepetto
import
Viewer
#calling script darpa_hyq_path to compute root path
import
prepareJump_hyq_pathKino
as
tp
from
.
import
prepareJump_hyq_pathKino
as
tp
from
os
import
environ
ins_dir
=
environ
[
'DEVEL_DIR'
]
...
...
@@ -95,7 +95,7 @@ r(configs[-1])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
from
fullBodyPlayer
import
Player
from
.
fullBodyPlayer
import
Player
player
=
Player
(
fullBody
,
pp
,
tp
,
configs
,
draw
=
False
,
optim_effector
=
False
,
use_velocity
=
dynamic
,
pathId
=
0
)
#player.displayContactPlan()
...
...
script/scenarios/sandbox/dynamic/sarpa_hrp2_interStatic.py
View file @
c8e717ed
...
...
@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from
hpp.corbaserver.rbprm.rbprmfullbody
import
FullBody
from
hpp.gepetto
import
Viewer
from
tools
import
*
import
walkBauzil_hrp2_pathKino
as
tp
from
.
import
walkBauzil_hrp2_pathKino
as
tp
import
time
import
omniORB.any
...
...
@@ -142,7 +142,7 @@ fullBody.setStaticStability(True) # only set it after the init/goal configuratio
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayerHrp2
from
.
import
fullBodyPlayerHrp2
tStart
=
time
.
time
()
configs
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
robTreshold
,
filterStates
=
False
)
...
...
script/scenarios/sandbox/dynamic/sideWall_hyq_interpKino.py
View file @
c8e717ed
...
...
@@ -9,7 +9,7 @@ from hpp.gepetto import Viewer
#calling script darpa_hyq_path to compute root path
import
sideWall_hyq_pathKino
as
tp
from
.
import
sideWall_hyq_pathKino
as
tp
from
os
import
environ
...
...
@@ -105,7 +105,7 @@ r(configs[-1])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
from
fullBodyPlayer
import
Player
from
.
fullBodyPlayer
import
Player
player
=
Player
(
fullBody
,
pp
,
tp
,
configs
,
draw
=
True
,
optim_effector
=
False
,
use_velocity
=
dynamic
,
pathId
=
1
)
#player.displayContactPlan()
...
...
script/scenarios/sandbox/dynamic/sideWall_hyq_interpKino_fullBody.py
View file @
c8e717ed
...
...
@@ -11,7 +11,7 @@ from hpp.gepetto import Viewer
#calling script darpa_hyq_path to compute root path
import
sideWall_hyq_pathKino
as
tp
from
.
import
sideWall_hyq_pathKino
as
tp
from
os
import
environ
...
...
@@ -135,7 +135,7 @@ r(configs[-1])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
from
fullBodyPlayer
import
Player
from
.
fullBodyPlayer
import
Player
player
=
Player
(
fullBody
,
pp
,
tp
,
configs
,
draw
=
True
,
optim_effector
=
False
,
use_velocity
=
False
,
pathId
=
0
)
#player.displayContactPlan()
...
...
script/scenarios/sandbox/dynamic/sideWall_hyq_interpKino_intersection.py
View file @
c8e717ed
...
...
@@ -11,7 +11,7 @@ from hpp.gepetto import Viewer
#calling script darpa_hyq_path to compute root path
import
sideWall_hyq_pathKino
as
tp
from
.
import
sideWall_hyq_pathKino
as
tp
from
os
import
environ
...
...
script/scenarios/sandbox/dynamic/sideWall_hyq_interpKino_muscod.py
View file @
c8e717ed
...
...
@@ -11,7 +11,7 @@ from hpp.gepetto import Viewer
#calling script darpa_hyq_path to compute root path
import
sideWall_hyq_pathKino
as
tp
from
.
import
sideWall_hyq_pathKino
as
tp
from
os
import
environ
...
...
@@ -135,7 +135,7 @@ r(configs[-1])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
from
fullBodyPlayer
import
Player
from
.
fullBodyPlayer
import
Player
player
=
Player
(
fullBody
,
pp
,
tp
,
configs
,
draw
=
True
,
optim_effector
=
False
,
use_velocity
=
dynamic
,
pathId
=
0
)
...
...
script/scenarios/sandbox/dynamic/slalom_bauzil_hrp2_interStatic.py
View file @
c8e717ed
...
...
@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from
hpp.corbaserver.rbprm.rbprmfullbody
import
FullBody
from
hpp.gepetto
import
Viewer
#from tools import *
import
slalom_bauzil_hrp2_pathKino
as
tp
from
.
import
slalom_bauzil_hrp2_pathKino
as
tp
import
time
import
omniORB.any
from
constraint_to_dae
import
*
...
...
@@ -136,7 +136,7 @@ fullBody.setStaticStability(True) # only set it after the init/goal configuratio
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayerHrp2
from
.
import
fullBodyPlayerHrp2
tStart
=
time
.
time
()
configsFull
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
robTreshold
,
filterStates
=
True
,
testReachability
=
True
,
quasiStatic
=
False
)
...
...
script/scenarios/sandbox/dynamic/slalom_bauzil_hrp2_interp.py
View file @
c8e717ed
...
...
@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from
hpp.corbaserver.rbprm.rbprmfullbody
import
FullBody
from
hpp.gepetto
import
Viewer
#from tools import *
import
slalom_bauzil_hrp2_path
as
tp
from
.
import
slalom_bauzil_hrp2_path
as
tp
import
time
import
omniORB.any
from
hpp.corbaserver.rbprm.tools.display_tools
import
*
...
...
@@ -148,7 +148,7 @@ fullBody.setStaticStability(True) # only set it after the init/goal configuratio
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayerHrp2
from
.
import
fullBodyPlayerHrp2
tStart
=
time
.
time
()
configs
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
robTreshold
,
filterStates
=
True
,
testReachability
=
True
,
quasiStatic
=
False
)
...
...
script/scenarios/sandbox/dynamic/slalom_hrp2_interKino.py
View file @
c8e717ed
...
...
@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from
hpp.corbaserver.rbprm.rbprmfullbody
import
FullBody
from
hpp.gepetto
import
Viewer
from
tools
import
*
import
slalom_hrp2_pathKino
as
tp
from
.
import
slalom_hrp2_pathKino
as
tp
import
time
import
omniORB.any
...
...
@@ -128,7 +128,7 @@ fullBody.setStaticStability(False) # only set it after the init/goal configurati
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayerHrp2
from
.
import
fullBodyPlayerHrp2
tStart
=
time
.
time
()
configs
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
robTreshold
,
filterStates
=
True
)
...
...
script/scenarios/sandbox/dynamic/slalom_hrp2_interSTATIC.py
View file @
c8e717ed
...
...
@@ -2,7 +2,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder
from
hpp.corbaserver.rbprm.rbprmfullbody
import
FullBody
from
hpp.gepetto
import
Viewer
import
slalom_hrp2_pathKino
as
tp
from
.
import
slalom_hrp2_pathKino
as
tp
import
time
import
omniORB.any
...
...
@@ -108,7 +108,7 @@ fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayerHrp2
from
.
import
fullBodyPlayerHrp2
configs
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
1
,
filterStates
=
True
)
print
(
"number of configs :"
,
len
(
configs
))
...
...
script/scenarios/sandbox/dynamic/slalom_hrp2_pathKino.py
View file @
c8e717ed
...
...
@@ -167,7 +167,7 @@ pp.speed=1
#pp (0)
import
parse_bench
from
.
import
parse_bench
parse_bench
.
parseBenchmark
(
t
)
...
...
script/scenarios/sandbox/dynamic/slalom_hyq_interpKino.py
View file @
c8e717ed
...
...
@@ -5,7 +5,7 @@ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from
hpp.gepetto
import
Viewer
import
omniORB.any
#calling script darpa_hyq_path to compute root path
import
slalom_hyq_pathKino
as
tp
from
.
import
slalom_hyq_pathKino
as
tp
from
os
import
environ
ins_dir
=
environ
[
'DEVEL_DIR'
]
...
...
script/scenarios/sandbox/dynamic/slalom_hyq_interpKino05.py
View file @
c8e717ed
...
...
@@ -5,7 +5,7 @@ from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
from
hpp.gepetto
import
Viewer
#calling script darpa_hyq_path to compute root path
import
slalom_hyq_pathKino05
as
tp
from
.
import
slalom_hyq_pathKino05
as
tp
from
os
import
environ
ins_dir
=
environ
[
'DEVEL_DIR'
]
...
...
@@ -96,7 +96,7 @@ r(configs[-1])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
import
fullBodyPlayer
from
.
import
fullBodyPlayer
player
=
fullBodyPlayer
.
Player
(
fullBody
,
pp
,
tp
,
configs
,
draw
=
True
,
optim_effector
=
False
,
use_velocity
=
dynamic
,
pathId
=
pathId
)
#player.displayContactPlan()
...
...
script/scenarios/sandbox/dynamic/slalom_hyq_pathKino.py
View file @
c8e717ed
...
...
@@ -134,7 +134,7 @@ pp.displayVelocityPath(ps.numberPaths()-1)
pp
.
speed
=
0.5
#pp (0)
import
parse_bench
from
.
import
parse_bench
parse_bench
.
parseBenchmark
(
t
)
print
(
"path lenght = "
,
str
(
ps
.
client
.
problem
.
pathLength
(
ps
.
numberPaths
()
-
1
)))
...
...
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