from hpp.gepetto import Viewer, PathPlayer
r = Viewer (ps)
pp = PathPlayer (robot.client, r)
r.loadObstacleModel ("animals_description","cave","cave")
#addLight (r, [-0.3, 3.8, 0,1,0,0,0], "li"); addLight (r, [-0.18, -3, 0.1,1,0,0,0], "li1"); addLight (r, [-0.3, 4, 0,1,0,0,0], "li3")
r(q11)
q1 = cl.robot.projectOnObstacle (q11, 0.001); q2 = cl.robot.projectOnObstacle (q22, 0.001)
robot.isConfigValid(q1); robot.isConfigValid(q2)
r(q1)
ps.setInitialConfig (q1); ps.addGoalConfig (q2)
plotSphere (q2, cl, r, "sphere_q2", [0,1,0,1], 0.02) # same as robot
nPointsPlot = 50
offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2
plotFrame (r, "_", [0,0,1.5], 0.5)
# First parabolas: vmax = 8m/s, mu = 1.2
cl.problem.setFrictionCoef(1.2); cl.problem.setMaxVelocityLim(4.5)
plotCone (q1, cl, r, "cone2", "friction_cone2"); plotCone (q2, cl, r, "cone22", "friction_cone2")
ps.clearRoadmap();
solveTime = ps.solve () # 0.312 s
pahtId = ps.numberPaths()-offsetOrientedPath # path without orientation stuff
samples = plotSampleSubPath (cl, r, pahtId, nPointsPlot, "path0", [0,0,1,1])
plotConeWaypoints (cl, pahtId, r, "wp0", "friction_cone2")
plotSpheresWaypoints (cl, pahtId, r, "sphere_wp0", [0,0,1,1], 0.02)
print "solve duration: " + str(solveTime)
q11 = [-1.8, 3, 4, 0, 0, 0, 1, 0, 0, 1, 0]; q22 = [1.8, 2.7, 8, 0, 0, 0, 1, 0, 0, 1, 0] # theta ~= 0
from hpp.gepetto import Viewer, PathPlayer
r = Viewer (ps)
pp = PathPlayer (robot.client, r)
r.loadObstacleModel ("animals_description","plane_3d","plane_3d")
addLight (r, [-3,3,7,1,0,0,0], "li"); addLight (r, [3,-3,7,1,0,0,0], "li1")
r(q11)
q1 = cl.robot.projectOnObstacle (q11, 0.001); q2 = cl.robot.projectOnObstacle (q22, 0.001)
robot.isConfigValid(q1); robot.isConfigValid(q2)
r(q1)
ps.setInitialConfig (q1); ps.addGoalConfig (q2)
plotSphere (q2, cl, r, "sphere1", [0,1,0,1], 0.02)
nPointsPlot = 60
offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2
plotFrame (r, "_", [0,0,3.1], 0.5)
# First parabola: vmax = 7m/s, mu = 1.2
cl.problem.setFrictionCoef(1.2); cl.problem.setMaxVelocityLim(7)
plotCone (q1, cl, r, "cone2", "friction_cone2"); plotCone (q2, cl, r, "cone22", "friction_cone2")
solveTime = ps.solve ()
pahtId = ps.numberPaths()-offsetOrientedPath # path without orientation stuff
samples = plotSampleSubPath (cl, r, pahtId, nPointsPlot, "path0", [0,0,1,1])
plotConeWaypoints (cl, pahtId, r, "wp0", "friction_cone2")
plotSpheresWaypoints (cl, pahtId, r, "sphere_wp0", [0,0,1,1], 0.02)
print "solve duration: " + str(solveTime)
print "path length: " + str(ps.pathLength(pahtId))
#cl.obstacle.loadObstacleModel('animals_description','envir3d_window_mesh','')
from hpp.gepetto import Viewer, PathPlayer
r = Viewer (ps)
pp = PathPlayer (robot.client, r)
r.loadObstacleModel ("animals_description","envir3d_window_mesh","envir3d_window_mesh")
addLight (r, [-3,3,4,1,0,0,0], "li"); addLight (r, [3,-3,4,1,0,0,0], "li1")
r(q11)
q1 = cl.robot.projectOnObstacle (q11, 0.001); q2 = cl.robot.projectOnObstacle (q22, 0.001)
robot.isConfigValid(q1); robot.isConfigValid(q2)
r(q1)
ps.setInitialConfig (q1); ps.addGoalConfig (q2)
plotSphere (q2, cl, r, "sphere_q2", [0,1,0,1], 0.02) # same as robot
nPointsPlot = 50
offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2
plotFrame (r, "_", [0,0,2.8], 0.5)
# First parabola(s): vmax = 6.8m/s, mu = 1.2
cl.problem.setFrictionCoef(1.2); cl.problem.setMaxVelocityLim(6.8)
plotCone (q1, cl, r, "cone2", "friction_cone2"); plotCone (q2, cl, r, "cone22", "friction_cone2")
ps.clearRoadmap();
solveTime = ps.solve () # 0.085 s
pahtId = ps.numberPaths()-offsetOrientedPath # path without orientation stuff
samples = plotSampleSubPath (cl, r, pahtId, nPointsPlot, "path0", [0,0,1,1])
plotConeWaypoints (cl, pahtId, r, "wp0", "friction_cone2")
plotSpheresWaypoints (cl, pahtId, r, "sphere_wp0", [0,0,1,1], 0.02)
print "solve duration: " + str(solveTime)
print "path length: " + str(ps.pathLength(pahtId))
pp = PathPlayer(robot.client, r)
r.loadObstacleModel("animals_description", "plane_3d", "plane_3d")
addLight(r, [-3, 3, 7, 1, 0, 0, 0], "li")
addLight(r, [3, -3, 7, 1, 0, 0, 0], "li1")
r(q11)
q1 = cl.robot.projectOnObstacle(q11, 0.001)
q2 = cl.robot.projectOnObstacle(q22, 0.001)
robot.isConfigValid(q1)
robot.isConfigValid(q2)
r(q1)
ps.setInitialConfig(q1)
ps.addGoalConfig(q2)
plotSphere(q2, cl, r, "sphere1", [0, 1, 0, 1], 0.02)
nPointsPlot = 60
offsetOrientedPath = 2 # If remove oriented path computation in ProblemSolver, set to 1 instead of 2
plotFrame(r, "_", [0, 0, 3.1], 0.5)
# First parabola: vmax = 7m/s, mu = 1.2
cl.problem.setFrictionCoef(1.2)
cl.problem.setMaxVelocityLim(7)
plotCone(q1, cl, r, "cone2", "friction_cone2")
plotCone(q2, cl, r, "cone22", "friction_cone2")
solveTime = ps.solve()
pahtId = ps.numberPaths(
) - offsetOrientedPath # path without orientation stuff
samples = plotSampleSubPath(cl, r, pahtId, nPointsPlot, "path0", [0, 0, 1, 1])
plotConeWaypoints(cl, pahtId, r, "wp0", "friction_cone2")
