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Commit 4a64d2a7 authored by Akseppal's avatar Akseppal
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update test1.py due to stricter order of commands called

parent b5b451a7
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2 merge requests!2new release of the planner with clean demos / tutorials,!3release of rbprm-corba for ijrr resubmission
......@@ -33,6 +33,7 @@ rbprmBuilder.boundSO3([-0.4,0.4,-3,3,-3,3])
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
r = Viewer (ps)
r.loadObstacleModel (packageName, "darpa", "planning")
# Setting initial and goal configurations
q_init = rbprmBuilder.getCurrentConfig ();
......@@ -45,12 +46,6 @@ ps.addPathOptimizer("RandomShortcut")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
# Choosing RBPRM shooter and path validation methods.
# Note that the standard RRT algorithm is used.
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
r.loadObstacleModel (packageName, "darpa", "planning")
from hpp.corbaserver.affordance import Client
c = Client ()
c.affordance.analyseAll ()
......@@ -66,6 +61,11 @@ for aff in objs:
r.client.gui.addToGroup('tri' + str(count), 'planning')
count += 1
# Choosing RBPRM shooter and path validation methods.
# Note that the standard RRT algorithm is used.
ps.client.problem.selectConFigurationShooter("RbprmShooter")
ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
# Solve the problem
t = ps.solve ()
......
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