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Commit 0d46d71d authored by Steve Tonneau's avatar Steve Tonneau
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cleaning

parent bb0e36cf
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...@@ -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>
......
...@@ -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
......
...@@ -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 setnormalfilter (self, rom, normal, tolerance): def setNormalFilter (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.
......
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