Python Viewer.solveAndDisplay Examples

Example #1

File: labyrinthSphere.py Project: pFernbach/hpp_perso

ps = ProblemSolver(robot)
v = Viewer(ps)
q_init = robot.getCurrentConfig()

q_init[0:3] = [9, 7.5, 0.5]
v(q_init)
q_goal = q_init[::]
q_goal[0:3] = [0, 1.5, 0.5]
#v (q_goal)

print("chargement map")
v.loadObstacleModel("iai_maps", "labyrinth2", "labyrinth2")

ps.setInitialConfig(q_init)
ps.addGoalConfig(q_goal)
ps.selectPathPlanner("rrtConnect")

v.solveAndDisplay("rm1", 50, white, 0.02, 1, brown)

ps.solve()

v.displayRoadmap("rm1", white, 0.02, 1, brown)

v.client.gui.removeFromGroup("rm1", v.sceneName)

pp = PathPlayer(robot.client, v)
#print("affichage solution")
#pp (0)
print("affichage solution optimise")

Example #2

q_goal = q_init [::]
q_goal [0:3] = [5,1, 1]
#v (q_goal)

print("chargement map")
v.loadObstacleModel ("iai_maps", "tunnel", "tunnel")



ps.selectPathPlanner("rrtPerso")
print("Debut motion planning")

ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)

v.solveAndDisplay(white,0.02,1,yellow)


ps.solve ()


v.displayRoadmap(white,0.02,1,yellow)


v.client.gui.addXYZaxis("test0",white,0.05,1)
v.client.gui.addToGroup("test0",v.sceneName)


pp = PathPlayer (robot.client, v)
#print("affichage solution")
#pp (0)

Example #3

File: robot_jumpEasy_path.py Project: nim65s/hpp-rbprm-corba

ps.selectDistance("KinodynamicDistance")
ps.selectPathPlanner("DynamicPlanner")



r(q_init)

ps.client.problem.prepareSolveStepByStep()


#i = 0
#r.displayRoadmap("rm"+str(i),0.02)
#ps.client.problem.executeOneStep() ;i = i+1; r.displayRoadmap("rm"+str(i),0.02) ; r.client.gui.removeFromGroup("rm"+str(i-1),r.sceneName) ;
#t = ps.solve ()

r.solveAndDisplay("rm",1,0.02)


#t = ps.solve ()

#r.displayRoadmap("rm",0.02)


r.displayPathMap("rmPath",0,0.02)


from hpp.gepetto import PathPlayer
pp = PathPlayer (rbprmBuilder.client.basic, r)

pp.displayPath(0,r.color.lightGreen)
pp(0)

Example #4

File: testRoadmap.py Project: pFernbach/hpp_perso

q_init[0:3] = [6, 7, 0.5]	#z=0.4 pour sphere
#6 7 pour en dehors de la zone
v (q_init)
q_goal = q_init [::]
q_goal [0:3] = [-2.5, -3.5, 0.5]
#v (q_goal)

print("chargement map")
v.loadObstacleModel ("iai_maps", "room", "room")

ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
ps.selectPathPlanner("rrtPerso")

v.solveAndDisplay(white,0.02,1,brown)

ps.solve ()


v.displayRoadmap(white,0.02,1,brown)

pp = PathPlayer (robot.client, v)
print("affichage solution")
pp (0)
print("affichage solution optimise")
pp (1)

Example #5

ps = ProblemSolver(robot)
v = Viewer(ps)
q_init = robot.getCurrentConfig()

q_init[0:3] = [0.5, 1, 1]  #z=0.4 pour sphere
v(q_init)
q_goal = q_init[::]
q_goal[0:3] = [5, 1, 1]
#v (q_goal)

print("chargement map")
v.loadObstacleModel("iai_maps", "tunnel", "tunnel")

ps.setInitialConfig(q_init)
ps.addGoalConfig(q_goal)

ps.selectPathPlanner("rrtPerso")
print("Debut motion planning")

v.solveAndDisplay(white, 0.02, 1, brown)

ps.solve()

v.displayRoadmap(white, 0.02, 1, brown)

pp = PathPlayer(robot.client, v)
#print("affichage solution")
#pp (0)
print("affichage solution optimise")

Example #6

from hpp.gepetto import Viewer
v = Viewer(ps)

q_init = robot.getCurrentConfig()
q_goal = q_init[::]
#q_init [0:3] = [0, 1.5, 0.5]
q_init[0:3] = [1, 1, 1]
#v (q_init)
q_goal[0:3] = [9.15, 7.5, 0.5]
v(q_goal)

v.loadObstacleModel("iai_maps", "env_simple", "simple")

ps.setInitialConfig(q_init)
ps.addGoalConfig(q_goal)
ps.clearRoadmap()

ps.selectPathPlanner("interactive")

white = [1.0, 1.0, 1.0, 1.0]
brown = [0.85, 0.75, 0.15, 0.5]
ps.addPathOptimizer("RandomShortcut")
v.solveAndDisplay("rm1", 1, white, 0.05, 1, brown)
#ps.solve()

from hpp.gepetto import PathPlayer
pp = PathPlayer(robot.client, v)
v(q_goal)
pp(0)
#pp (1)