Commit d1a12d1c authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[transition check] add dae to display com constraints on gepetto-viewer

parent 4b613b65
......@@ -342,6 +342,10 @@ install(FILES
install(FILES
data/com_inequalities/LLEG_JOINT0_com_constraints.obj
data/com_inequalities/RLEG_JOINT0_com_constraints.obj
data/com_inequalities/LLEG_JOINT0_com_constraints.dae
data/com_inequalities/RLEG_JOINT0_com_constraints.dae
data/com_inequalities/LLEG_LINK5_Kinematics.dae
data/com_inequalities/RLEG_LINK5_Kinematics.dae
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/com_inequalities
)
......
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<authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
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<created>2018-01-25T14:11:30</created>
<modified>2018-01-25T14:11:30</modified>
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<up_axis>Z_UP</up_axis>
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<vertices id="foo_002-mesh-vertices">
<input semantic="POSITION" source="#foo_002-mesh-positions"/>
</vertices>
<polylist material="Transparent-material" count="38">
<input semantic="VERTEX" source="#foo_002-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#foo_002-mesh-normals" offset="1"/>
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<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#foo_002-mesh" name="foo_002">
<bind_material>
<technique_common>
<instance_material symbol="Transparent-material" target="#Transparent-material"/>
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</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
This diff is collapsed.
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
</contributor>
<created>2018-01-25T14:12:18</created>
<modified>2018-01-25T14:12:18</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_effects>
<effect id="None-effect">
<profile_COMMON>
<technique sid="common">
<phong>
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<color sid="emission">0 0 0 1</color>
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<color sid="ambient">0 0 0 1</color>
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<color sid="diffuse">0.1740108 0.64 0.1601645 1</color>
</diffuse>
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<color sid="specular">0.07596274 0.5 0.06977844 1</color>
</specular>
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</shininess>
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</transparency>
<index_of_refraction>
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</index_of_refraction>
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\ No newline at end of file
This diff is collapsed.
......@@ -17,7 +17,7 @@ rootJointType = "freeflyer"
##
# Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
urdfSuffix = "_reduced_kinematics"
srdfSuffix = ""
pId = tp.ps.numberPaths() -1
fullBody = FullBody ()
......
......@@ -70,7 +70,7 @@ afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
afftool.loadObstacleModel (ENV_PACKAGE_NAME, ENV_NAME, ENV_PREFIX, r)
#r.loadObstacleModel (packageName, "ground", "planning")
afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
#afftool.visualiseAffordances('Support', r, r.color.lightBrown)
#r.addLandmark(r.sceneName,1)
# Setting initial and goal configurations
......
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