##
# Information to retrieve urdf and srdf files.
urdfName = "hrp2_14"
urdfSuffix = "_reduced_kinematics"
srdfSuffix = ""
pId = tp.ps.numberPaths() -1
fullBody = FullBody ()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds ("base_joint_xyz", [-5,5, -1.5, 1.5, 0.5, 0.8])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
ps = tp.ProblemSolver( fullBody )
ps.client.problem.setParameter("aMax",tp.aMax)
ps.client.problem.setParameter("vMax",tp.vMax)
r = tp.Viewer (ps,viewerClient=tp.r.client,displayArrows = True, displayCoM = True)
q_init =[0.1, -0.82, 0.648702, 1.0, 0.0 , 0.0, 0.0,0.0, 0.0, 0.0, 0.0,0.261799388, 0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.261799388, -0.174532925, 0.0, -0.523598776, 0.0, 0.0, 0.17,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0.0, 0.0, -0.453785606, 0.872664626, -0.41887902, 0.0,0,0,0,0,0,0]; r (q_init)
q_ref = q_init[::]
fullBody.setCurrentConfig (q_init)
#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
lLegId = 'hrp2_lleg_rom'
tStart = time.time()
rLeg = 'RLEG_JOINT0'
rLegOffset = [0,0,-0.105]
urdfName = "hrp2_14"
urdfSuffix = "_reduced"
srdfSuffix = ""
pId = tp.ps.numberPaths() - 1
fullBody = FullBody()
fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName,
packageName, urdfSuffix, srdfSuffix)
fullBody.setJointBounds("base_joint_xyz", [-5, 5, -1.5, 1.5, 0.5, 0.8])
fullBody.client.basic.robot.setDimensionExtraConfigSpace(tp.extraDof)
ps = tp.ProblemSolver(fullBody)
ps.client.problem.setParameter("aMax", tp.aMax)
ps.client.problem.setParameter("vMax", tp.vMax)
ps.client.problem.setParameter("friction", tp.mu)
r = tp.Viewer(ps, viewerClient=tp.r.client)
#~ AFTER loading obstacles
rLegId = 'hrp2_rleg_rom'
rLeg = 'RLEG_JOINT0'
rLegOffset = [0, 0, -0.105]
rLegNormal = [0, 0, 1]
rLegx = 0.09
rLegy = 0.05
fullBody.addLimb(rLegId, rLeg, '', rLegOffset, rLegNormal, rLegx, rLegy, 50000,
"forward", 0.1)
lLegId = 'hrp2_lleg_rom'
lLeg = 'LLEG_JOINT0'
lLegOffset = [0, 0, -0.105]
lLegNormal = [0, 0, 1]