robot.setJointBounds ('base_joint_xy', [-1,1,-1,1])
from hpp.corbaserver import ProblemSolver
ps = ProblemSolver (robot)
from hpp.gepetto import ViewerFactory
vf = ViewerFactory (ps)
#r.loadObstacleModel ("tom_description", "table", "table")
vf.loadObstacleModel ("hpp_tutorial", "box", "box")
box_position = [.5,0,.5,1,0,0,0]
table_position = (-0.90, -0.91, -0.42, .5, .5, .5, .5)
#r.moveObstacle ("table/table_tom_link_0", table_position)
#r.moveObstacle ("tom/box_tom_link_0", table_position)
vf.moveObstacle ("box/base_link_0", box_position)
q_init = robot.halfSitting [::]
dict_goal = {
'l_shoulder_pan_joint': -1.62236446982,
'l_shoulder_lift_joint': -0.741943917854,
'l_elbow_joint': 0.952500010443,
'l_wrist_1_joint': -1.27920005559,
'l_wrist_2_joint': -2.22347756642,
'l_wrist_3_joint': -1.37711410223,
'r_shoulder_pan_joint': 1.57079632679,
'r_shoulder_lift_joint': -2.05619449019,
'r_elbow_joint': -0.2,
'r_wrist_1_joint': -2.61799387799,
'r_wrist_2_joint': 2.09439510239,
