Commit 061d45ad authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Update to version 4.5 of HPP

  - make script common.py reentrant,
  - call hppcorbaserver even in manipulation,
  - use v (and not r) for viewer,
  - regerenetate html files.
parent 20104ae4
......@@ -56,7 +56,7 @@ While running, your RRT algorithm will produce configurations and paths to store
edges. To display a configuration +q+ in the viewer, use
[source,python]
----
r (q)
v (q)
----
Functions that create a path (such as +directPath+ below) appends
......
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......@@ -12,7 +12,7 @@ Open a terminal, cd into hpp-practicals directory and open 3 tab by typing CTRL+
twice. In the first terminal, type
[source,sh]
----
hpp-manipulation-server
hppcorbaserver
----
In the second terminal, type
......@@ -36,8 +36,8 @@ the script by typing respectively
[source,python]
----
r (q_init)
r (q_goal)
v (q_init)
v (q_goal)
----
Displaying the constraint graph
......
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......@@ -9,10 +9,8 @@ robot.setJointBounds ('pokeball/root_joint', [-.4,.4,-.4,.4,-.1,2.,
-1.0001, 1.0001,-1.0001, 1.0001,
-1.0001, 1.0001,-1.0001, 1.0001,])
r = vf.createViewer ()
q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 0, 0, 0, 1]
r (q1)
## Create constraint graph
graph = ConstraintGraph (robot, 'graph')
......@@ -74,7 +72,9 @@ res, q_goal, error = graph.applyNodeConstraints ('placement', q2)
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
pp = PathPlayer (r, ps.client.basic)
# v = vf.createViewer ()
# pp = PathPlayer (v)
# v (q1)
## Build relative position of the ball with respect to the gripper
for i in range (100):
......
......@@ -15,10 +15,7 @@ robot.setJointBounds ('pokeball/root_joint', [-.4,.4,-.4,.4,-.1,1.,
-1.0001, 1.0001,-1.0001, 1.0001,
-1.0001, 1.0001,-1.0001, 1.0001,])
r = vf.createViewer ()
q1 = [0, -1.57, 1.57, 0, 0, 0, .3, 0, 0.025, 0, 0, 0, 1]
r (q1)
## Create graph
graph = ConstraintGraph (robot, 'graph')
......@@ -37,5 +34,7 @@ res, q_goal, error = graph.applyNodeConstraints ('placement', q2)
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
pp = PathPlayer (ps.client.basic, r)
# v = vf.createViewer ()
# pp = PathPlayer (v)
# v (q1)
from hpp.corbaserver.practicals.manipulation.ur5 import Robot
from hpp.corbaserver.manipulation import ProblemSolver
from hpp.corbaserver.manipulation import ProblemSolver, Client
from hpp.gepetto.manipulation import ViewerFactory
from hpp.gepetto import PathPlayer
from hpp.corbaserver import loadServerPlugin
loadServerPlugin ("corbaserver", "manipulation-corba.so")
Client ().problem.resetProblem ()
Robot.urdfName = "ur5_gripper"
Robot.urdfSuffix = ""
......
......@@ -11,13 +11,13 @@ vf.loadObstacleModel ("hpp_practicals","ur_benchmark/obstacles","obstacles")
vf.loadObstacleModel ("hpp_practicals","ur_benchmark/table","table")
vf.loadObstacleModel ("hpp_practicals","ur_benchmark/wall","wall")
r = vf.createViewer ()
v = vf.createViewer ()
q1 = [0, -1.57, 1.57, 0, 0, 0]; q2 = [0.2, -1.57, -1.8, 0, 0.8, 0]
q3 = [1.57, -1.57, -1.8, 0, 0.8, 0]
r (q2)
r (q3)
v (q2)
v (q3)
ps.setInitialConfig (q2)
ps.addGoalConfig (q3)
......@@ -26,5 +26,5 @@ from motion_planner import MotionPlanner
m = MotionPlanner (robot, ps)
pathId = m.solveBiRRT (maxIter = 1000)
pp = PathPlayer (robot.client, r)
pp = PathPlayer (v)
#pp (pathId)
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