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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
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script/scenarios/sandbox/dynamic/stair_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
import
omniORB.any
import
stair_bauzil_hrp2_path
as
tp
from
.
import
stair_bauzil_hrp2_path
as
tp
import
time
...
...
@@ -146,7 +146,7 @@ r(configs[-1])
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
from
fullBodyPlayerHrp2
import
Player
from
.
fullBodyPlayerHrp2
import
Player
player
=
Player
(
fullBody
,
pp
,
tp
,
configs
,
draw
=
False
,
optim_effector
=
False
,
use_velocity
=
False
,
pathId
=
0
)
...
...
script/scenarios/sandbox/dynamic/stair_bauzil_hrp2_interp_noRamp.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
omniORB.any
import
stair_bauzil_hrp2_path_noRamp
as
tp
from
.
import
stair_bauzil_hrp2_path_noRamp
as
tp
import
time
from
hpp.corbaserver.rbprm.rbprmstate
import
State
,
StateHelper
...
...
script/scenarios/sandbox/dynamic/stair_bauzil_hrp2_interp_testTransition.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
omniORB.any
import
stair_bauzil_hrp2_path
as
tp
from
.
import
stair_bauzil_hrp2_path
as
tp
import
time
from
hpp.corbaserver.rbprm.rbprmstate
import
State
,
StateHelper
...
...
script/scenarios/sandbox/dynamic/stairs10_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
stairs10_hrp2_pathKino
as
tp
from
.
import
stairs10_hrp2_pathKino
as
tp
import
time
import
omniORB.any
from
constraint_to_dae
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
()
configsFull
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
robTreshold
,
filterStates
=
True
,
testReachability
=
True
,
quasiStatic
=
False
)
...
...
script/scenarios/sandbox/dynamic/stairs10_hrp2_interStatic2.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
stairs10_hrp2_pathKino2
as
tp
from
.
import
stairs10_hrp2_pathKino2
as
tp
import
time
import
omniORB.any
from
constraint_to_dae
import
*
...
...
@@ -128,7 +128,7 @@ 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
=
True
)
...
...
script/scenarios/sandbox/dynamic/stairs10_hrp2_interStatic_noCroc.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
stairs10_hrp2_pathKino
as
tp
from
.
import
stairs10_hrp2_pathKino
as
tp
import
time
import
omniORB.any
from
constraint_to_dae
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
()
configsFull
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
robTreshold
,
filterStates
=
True
,
testReachability
=
False
,
quasiStatic
=
False
)
...
...
script/scenarios/sandbox/dynamic/test_flatGround.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
tPlanning
=
tp
.
tPlanning
...
...
script/scenarios/sandbox/dynamic/walkBauzil_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
walkBauzil_hrp2_pathKino
as
tp
from
.
import
walkBauzil_hrp2_pathKino
as
tp
import
time
import
omniORB.any
...
...
@@ -146,7 +146,7 @@ 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
)
...
...
script/scenarios/sandbox/dynamic/walkBauzil_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
...
...
@@ -144,7 +144,7 @@ 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
)
...
...
script/scenarios/sandbox/dynamic/walkBauzil_hrp2_interStatic_testTransition.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
from
constraint_to_dae
import
*
...
...
@@ -144,7 +144,7 @@ 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
)
...
...
@@ -155,7 +155,7 @@ r(configsFull[len(configsFull)-1])
tPlanning
=
tp
.
tPlanning
import
parse_bench
from
.
import
parse_bench
parse_bench
.
parseBenchmark
(
tp
.
t
)
...
...
script/scenarios/sandbox/dynamic/walkBauzil_hrp2_pathKino.py
View file @
c8e717ed
...
...
@@ -169,7 +169,7 @@ pp.speed=1
#pp (0)
import
parse_bench
from
.
import
parse_bench
parse_bench
.
parseBenchmark
(
t
)
...
...
script/scenarios/sandbox/dynamic/wall_hrp2_interp.py
View file @
c8e717ed
...
...
@@ -3,7 +3,7 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from
hpp.gepetto
import
Viewer
import
omniORB.any
import
hrp2_wall_path
as
tp
from
.
import
hrp2_wall_path
as
tp
import
time
...
...
@@ -147,7 +147,7 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])
from
hpp.gepetto
import
PathPlayer
from
fullBodyPlayerHrp2
import
Player
from
.
fullBodyPlayerHrp2
import
Player
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
...
...
script/scenarios/sandbox/ground_crouch_hyq_interp.py
View file @
c8e717ed
...
...
@@ -10,7 +10,7 @@ from os import environ
ins_dir
=
environ
[
'DEVEL_DIR'
]
db_dir
=
ins_dir
+
"/install/share/hyq-rbprm/database/hyq_"
import
ground_crouch_hyq_path
as
tp
from
.
import
ground_crouch_hyq_path
as
tp
#~ import ground_crouch_hyq_path_bridge as tp
packageName
=
"hyq_description"
...
...
script/scenarios/sandbox/ground_crouch_hyq_interp_bridge.py
View file @
c8e717ed
...
...
@@ -10,7 +10,7 @@ from os import environ
ins_dir
=
environ
[
'DEVEL_DIR'
]
db_dir
=
ins_dir
+
"/install/share/hyq-rbprm/database/hyq_"
import
ground_crouch_hyq_path_bridge
as
tp
from
.
import
ground_crouch_hyq_path_bridge
as
tp
#~ import ground_crouch_hyq_path_bridge as tp
packageName
=
"hyq_description"
...
...
script/scenarios/sandbox/polaris/poralis_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
import
polaris_hrp2_path_no_step
as
tp
from
.
import
polaris_hrp2_path_no_step
as
tp
...
...
script/scenarios/sandbox/polaris/poralis_hrp2_interp_2.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
polaris_hrp2_path_2
as
tp
from
.
import
polaris_hrp2_path_2
as
tp
...
...
script/scenarios/sandbox/polaris/poralis_hrp2_interp_3.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
polaris_hrp2_path_3
as
tp
from
.
import
polaris_hrp2_path_3
as
tp
...
...
script/scenarios/sandbox/polaris/poralis_hrp2_interp_4.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
polaris_hrp2_path_4
as
tp
from
.
import
polaris_hrp2_path_4
as
tp
...
...
script/scenarios/sandbox/siggraph_asia/chair_hrp2_interp.py
View file @
c8e717ed
...
...
@@ -3,10 +3,10 @@ from hpp.corbaserver.rbprm.rbprmfullbody import FullBody
from
hpp.gepetto
import
Viewer
from
hpp.gepetto
import
PathPlayer
import
chair_hrp2_path
as
path_planner
import
hrp2_model
as
model
from
.
import
chair_hrp2_path
as
path_planner
from
.
import
hrp2_model
as
model
#~ import hrp2_model_grasp as model
from
hrp2_model
import
*
from
.
hrp2_model
import
*
import
time
...
...
@@ -17,7 +17,7 @@ fullBody = model.fullBody
fullBody
.
setJointBounds
(
"base_joint_xyz"
,
[
-
1
,
3
,
-
2
,
2
,
-
1
,
6
])
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
from
plan_execute
import
a
,
b
,
c
,
d
,
e
,
init_plan_execute
from
.
plan_execute
import
a
,
b
,
c
,
d
,
e
,
init_plan_execute
init_plan_execute
(
model
.
fullBody
,
r
,
path_planner
,
pp
)
q_0
=
fullBody
.
getCurrentConfig
();
...
...
@@ -55,7 +55,7 @@ configs = d(0.005); e()
qs
=
configs
fb
=
fullBody
ttp
=
path_planner
from
bezier_traj
import
*
from
.
bezier_traj
import
*
init_bezier_traj
(
fb
,
r
,
pp
,
qs
,
limbsCOMConstraints
)
#~ AFTER loading obstacles
configs
=
qs
...
...
script/scenarios/sandbox/siggraph_asia/chair_interp.py
View file @
c8e717ed
...
...
@@ -4,9 +4,9 @@ from hpp.gepetto import Viewer
from
hpp.gepetto
import
PathPlayer
import
chair_path_2
as
path_planner
import
hrp2_model
as
model
from
.
import
hrp2_model
as
model
#~ import hrp2_model_grasp as model
from
hrp2_model
import
*
from
.
hrp2_model
import
*
import
time
...
...
@@ -17,7 +17,7 @@ fullBody = model.fullBody
fullBody
.
setJointBounds
(
"base_joint_xyz"
,
[
-
1
,
3
,
-
1
,
1
,
0
,
6
])
pp
=
PathPlayer
(
fullBody
.
client
.
basic
,
r
)
from
plan_execute
import
a
,
b
,
c
,
d
,
e
,
init_plan_execute
from
.
plan_execute
import
a
,
b
,
c
,
d
,
e
,
init_plan_execute
init_plan_execute
(
model
.
fullBody
,
r
,
path_planner
,
pp
)
q_0
=
fullBody
.
getCurrentConfig
();
...
...
@@ -55,7 +55,7 @@ configs = d(0.005); e()
qs
=
configs
fb
=
fullBody
ttp
=
path_planner
from
bezier_traj
import
*
from
.
bezier_traj
import
*
init_bezier_traj
(
fb
,
r
,
pp
,
qs
,
limbsCOMConstraints
)
#~ AFTER loading obstacles
configs
=
qs
...
...
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