Skip to content
GitLab
Explore
Sign in
Register
Primary navigation
Search or go to…
Project
H
hpp-rbprm-corba
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container Registry
Model registry
Operate
Environments
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
This is an archived project. Repository and other project resources are read-only.
Show more breadcrumbs
Humanoid Path Planner
hpp-rbprm-corba
Commits
0d46d71d
Commit
0d46d71d
authored
9 years ago
by
Steve Tonneau
Browse files
Options
Downloads
Patches
Plain Diff
cleaning
parent
bb0e36cf
No related branches found
Branches containing commit
No related tags found
No related merge requests found
Changes
3
Hide whitespace changes
Inline
Side-by-side
Showing
3 changed files
data/urdf/hrp2_trunk_flexible.urdf
+3
-3
3 additions, 3 deletions
data/urdf/hrp2_trunk_flexible.urdf
script/truck_path_hrp2.py
+3
-1
3 additions, 1 deletion
script/truck_path_hrp2.py
src/hpp/corbaserver/rbprm/rbprmbuilder.py
+1
-1
1 addition, 1 deletion
src/hpp/corbaserver/rbprm/rbprmbuilder.py
with
7 additions
and
5 deletions
data/urdf/hrp2_trunk_flexible.urdf
+
3
−
3
View file @
0d46d71d
...
@@ -9,9 +9,9 @@
...
@@ -9,9 +9,9 @@
<visual>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_
trunk_body
.stl"/>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_
lleg_rom
.stl"/>
</geometry>
</geometry>
<material name="
white
">
<material name="
red
">
<color rgba="1 1 1 1"/>
<color rgba="1 1 1 1"/>
</material>
</material>
</visual>
</visual>
...
@@ -45,7 +45,7 @@
...
@@ -45,7 +45,7 @@
<geometry>
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso.stl"/>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso.stl"/>
</geometry>
</geometry>
<material name="
white
">
<material name="
red
">
<color rgba="1 1 1 1"/>
<color rgba="1 1 1 1"/>
</material>
</material>
</visual>
</visual>
...
...
This diff is collapsed.
Click to expand it.
script/truck_path_hrp2.py
+
3
−
1
View file @
0d46d71d
...
@@ -13,7 +13,9 @@ rbprmBuilder = Builder ()
...
@@ -13,7 +13,9 @@ rbprmBuilder = Builder ()
rbprmBuilder
.
loadModel
(
urdfName
,
urdfNameRoms
,
rootJointType
,
meshPackageName
,
packageName
,
urdfSuffix
,
srdfSuffix
)
rbprmBuilder
.
loadModel
(
urdfName
,
urdfNameRoms
,
rootJointType
,
meshPackageName
,
packageName
,
urdfSuffix
,
srdfSuffix
)
rbprmBuilder
.
setJointBounds
(
"
base_joint_xyz
"
,
[
-
1
,
1
,
-
4
,
0
,
1
,
2.5
])
rbprmBuilder
.
setJointBounds
(
"
base_joint_xyz
"
,
[
-
1
,
1
,
-
4
,
0
,
1
,
2.5
])
rbprmBuilder
.
setFilter
([
'
hrp2_larm_rom
'
,
'
hrp2_lleg_rom
'
,
'
hrp2_rleg_rom
'
])
rbprmBuilder
.
setFilter
([
'
hrp2_lleg_rom
'
,
'
hrp2_rleg_rom
'
])
rbprmBuilder
.
setNormalFilter
(
'
hrp2_lleg_rom
'
,[
0
,
0
,
1
],
0.7
)
rbprmBuilder
.
setNormalFilter
(
'
hrp2_rleg_rom
'
,[
0
,
0
,
1
],
0.7
)
#~ from hpp.corbaserver.rbprm. import ProblemSolver
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from
hpp.corbaserver.rbprm.problem_solver
import
ProblemSolver
from
hpp.corbaserver.rbprm.problem_solver
import
ProblemSolver
...
...
This diff is collapsed.
Click to expand it.
src/hpp/corbaserver/rbprm/rbprmbuilder.py
+
1
−
1
View file @
0d46d71d
...
@@ -101,7 +101,7 @@ class Builder (object):
...
@@ -101,7 +101,7 @@ class Builder (object):
# \param normal 3d vector specifying the normal,
# \param normal 3d vector specifying the normal,
# \param tolerance expressed as the dot product between the considered obstacle and the ideal normal.
# \param tolerance expressed as the dot product between the considered obstacle and the ideal normal.
# if the dot product is greater than the tolerance the surface will be considered valid.
# if the dot product is greater than the tolerance the surface will be considered valid.
def
set
n
ormal
f
ilter
(
self
,
rom
,
normal
,
tolerance
):
def
set
N
ormal
F
ilter
(
self
,
rom
,
normal
,
tolerance
):
return
self
.
client
.
rbprm
.
rbprm
.
setNormalFilter
(
rom
,
normal
,
tolerance
)
return
self
.
client
.
rbprm
.
rbprm
.
setNormalFilter
(
rom
,
normal
,
tolerance
)
## Specifies a rom constraint for the planner.
## Specifies a rom constraint for the planner.
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment