walk_oblique=True
walk_various=True
# Load HRP2 and a screwgun {{{3
robot = Robot ('hrp2')
ps = ProblemSolver (robot)
#~ ps.selectPathPlanner ("DiffusingPlanner")
# ps.addPathOptimizer ("SmallSteps")
vf = ViewerFactory (ps)
robot.setJointBounds ("base_joint_xyz", [-4,4,-4,4,-4,4])
#~ vf.loadObstacleModel ("hpp_tutorial", "box", "box")
#~ ps.moveObstacle ("box/base_link_0", [0.5,0.415,0.7,1,0,0,0])
wcl = WSClient ()
ps.setErrorThreshold (1e-3)
ps.setMaxIterations (60)
# 3}}}
# Define configurations {{{3
half_sitting = q = robot.getInitialConfig ()
q_init = half_sitting [::]
print (q_init)
q_init = [0.0, 0.0, 0.648702, 1.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.261799, 0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532925,
#~ 0.0, 0.0, 0.0, 0.0, 0.0,
0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532925,
#~ 0.0, 0.0, 0.0, 0.0, 0.0,
