def newProblem(client=None, name=None):
from hpp.corbaserver.problem_solver import newProblem
if client is None:
from hpp.corbaserver.manipulation import Client
client = Client()
newProblem(client=client, name=name)
import os
from argparse import ArgumentParser
from math import pi, fabs
from hpp.corbaserver.manipulation import Client, ConstraintGraph, Rule, \
ConstraintGraphFactory, ProblemSolver
from hpp.corbaserver.manipulation.ur5 import Robot
from hpp.gepetto.manipulation import ViewerFactory
from hpp.corbaserver import loadServerPlugin
from hpp_idl.hpp import Equality, EqualToZero
parser = ArgumentParser()
parser.add_argument('-N', default=20, type=int)
args = parser.parse_args()
loadServerPlugin("corbaserver", "manipulation-corba.so")
Client().problem.resetProblem()
Robot.urdfFilename = \
"package://example-robot-data/robots/ur_description/urdf/ur3_gripper.urdf"
Robot.srdfFilename = \
"package://example-robot-data/robots/ur_description/srdf/ur3_gripper.srdf"
dir = os.getenv('PWD')
class Sphere(object):
rootJointType = 'freeflyer'
packageName = 'hpp_environments'
urdfName = 'construction_set/sphere'
urdfSuffix = ""
srdfSuffix = ""
def newProblem ():
from hpp.corbaserver.manipulation import Client
cl = Client()
cl.problem.resetProblem()