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Humanoid Path Planner
hpp-practicals
Commits
5d4eb6d6
Commit
5d4eb6d6
authored
Mar 03, 2020
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
Mar 03, 2020
Browse files
Update rrt.py to recent modifications in gepetto-viewer.
parent
07ed8da9
Changes
1
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Inline
Side-by-side
script/rrt.py
View file @
5d4eb6d6
...
...
@@ -8,9 +8,12 @@ ps = ProblemSolver (robot)
vf
=
ViewerFactory
(
ps
)
vf
.
loadObstacleModel
(
"hpp_practicals"
,
"ur_benchmark/obstacles"
,
"obstacles"
)
vf
.
loadObstacleModel
(
"hpp_practicals"
,
"ur_benchmark/table"
,
"table"
)
vf
.
loadObstacleModel
(
"hpp_practicals"
,
"ur_benchmark/wall"
,
"wall"
)
vf
.
loadObstacleModel
(
"package://hpp_practicals/urdf/ur_benchmark/obstacles.urdf"
,
"obstacles"
)
vf
.
loadObstacleModel
(
"package://hpp_practicals/urdf/ur_benchmark/table.urdf"
,
"table"
)
vf
.
loadObstacleModel
(
"package://hpp_practicals/urdf/ur_benchmark/wall.urdf"
,
"wall"
)
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
]
...
...
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