# display solution :
from hpp.gepetto import PathPlayer
pp = PathPlayer(v)
pp.dt = 0.1
pp.displayVelocityPath(0)
#v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp.dt = 0.01
#pp(0)
except Exception:
pass
# move the robot out of the view before computing the contacts
q_far = q_init[::]
q_far[2] = -2
pId = ps.numberPaths() - 1
from hpp.corbaserver import Client
#~ #DEMO code to play root path and final contact plan
cl = Client()
cl.problem.selectProblem("rbprm_path")
rbprmBuilder2 = Robot("toto")
ps2 = ProblemSolver(rbprmBuilder2)
cl.problem.selectProblem("default")
cl.problem.movePathToProblem(pId, "rbprm_path",
rbprmBuilder.getAllJointNames()[1:])
r2 = Viewer(ps2, viewerClient=v.client)
r2(q_far)
#~ v(q_far)
try:
# display solution :
from hpp.gepetto import PathPlayer
pp = PathPlayer(v)
pp.dt = 0.1
pp.displayVelocityPath(0)
#v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp.dt = 0.01
#pp(0)
except Exception:
pass
# move the robot out of the view before computing the contacts
q_far = q_init[::]
q_far[2] = -2
pId = ps.numberPaths() - 1
from hpp.corbaserver import Client
#~ #DEMO code to play root path and final contact plan
cl = Client()
cl.problem.selectProblem("rbprm_path")
rbprmBuilder2 = Robot("toto")
ps2 = ProblemSolver(rbprmBuilder2)
cl.problem.selectProblem("default")
cl.problem.movePathToProblem(pId, "rbprm_path", rbprmBuilder.getAllJointNames()[1:])
r2 = Viewer(ps2, viewerClient=v.client)
r2(q_far)
#~ v(q_far)