#/usr/bin/env python # Benchmark4. Script which goes with animals_description package. # The script launches a point-robot and the scene_jump_harder (mesh version 10) environment. # It defines init and final configs, and solve them for .. couples of mu / vmax (parabola constraints). from hpp.corbaserver.sphere import Robot #from hpp.corbaserver.sphere_mesh import Robot from hpp.corbaserver import Client from hpp.corbaserver import ProblemSolver from viewer_display_library import normalizeDir, plotCone, plotFrame, plotThetaPlane, shootNormPlot, plotStraightLine, plotConeWaypoints, plotSampleSubPath, contactPosition, addLight, plotSphere, plotSpheresWaypoints, plotConesRoadmap import math import numpy as np robot = Robot ('robot') robot.setJointBounds('base_joint_xyz', [-6, 6.8, -2.5, 3.2, 0, 8]) ps = ProblemSolver (robot) cl = robot.client # Configs : [x, y, z, q1, q2, q3, q4, dir.x, dir.y, dir.z, theta] q11 = [6.2, 0.5, 0.5, 0, 0, 0, 1, 0, 0, 1, 0]; q22 = [-4.4, -1.5, 6.5, 0, 0, 0, 1, 0, 0, 1, 0] from hpp.gepetto import Viewer, PathPlayer r = Viewer (ps); gui = r.client.gui pp = PathPlayer (robot.client, r) r.loadObstacleModel ("animals_description","scene_jump_harder","scene_jump_harder") q1 = cl.robot.projectOnObstacle (q11, 0.001); q2 = cl.robot.projectOnObstacle (q22, 0.001) robot.isConfigValid(q1); robot.isConfigValid(q2) r(q1)
#/usr/bin/env python # Benchmark2mesh. Script which goes with animals_description package. # The script launches a point-robot and the environment containing an environment 3d mesh (with windows). # It defines init and final configs, and solve them for 2 couples of mu / vmax (parabola constraints). #blender/urdf_to_blender.py -p /local/mcampana/devel/hpp/videos/ -i robot.urdf -o robot_blend.py from hpp.corbaserver.sphere import Robot from hpp.corbaserver import Client from hpp.corbaserver import ProblemSolver from viewer_display_library import normalizeDir, plotCone, plotFrame, plotThetaPlane, shootNormPlot, plotStraightLine, plotConeWaypoints, plotSampleSubPath, contactPosition, addLight, plotSphere, plotSpheresWaypoints import math import numpy as np robot = Robot ('sphere') robot.setJointBounds('base_joint_xyz', [-5, 5, -5, 5, -1, 7]) ps = ProblemSolver (robot) cl = robot.client # Configs : [x, y, z, q1, q2, q3, q4, dir.x, dir.y, dir.z, theta] q11 = [-3.8, 2.4, 1.2, 0, 0, 0, 1, 0, 0, 1, 0]; q22 = [3.5, -3.3, 0.4, 0, 0, 0, 1, 0, 0, 1, 0] #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)