from hpp.corbaserver.ur5_robot import Robot
from hpp.corbaserver import Client
from hpp.corbaserver import ProblemSolver
import CORBA
robot = Robot ('ur5')
cl = robot.client
ps = ProblemSolver (robot)
# q = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] 6 DoF#
q1 = [0, -1.57, 1.57, 0, 0, 0]; q2 = [0.2, -1.57, -1.8, 0, 0.8, 0]
q3 = [0, -1.57, 1.57, 3.267256451, 0, 0]
q_init = q1;
# q_goal = q2
q_goal = q3
from hpp.gepetto import ViewerFactory, PathPlayerGui
vf = ViewerFactory (ps)
# vf.loadObstacleModel ("ur_description","obstacles","obstacles")
vf.loadObstacleModel ("ur_description","table","table")
# vf.loadObstacleModel ("ur_description","wall","wall")
vf(q1)
ps.lockJoint("elbow_joint", [q1[2]])
ps.selectPathValidation("Progressive", .05)
ps.setParameter("SplineGradientBased/alphaInit", CORBA.Any(CORBA.TC_double, 0.3))
ps.setParameter("SplineGradientBased/alwaysStopAtFirst", CORBA.Any(CORBA.TC_boolean, True))
ps.setParameter("SplineGradientBased/linearizeAtEachStep", CORBA.Any(CORBA.TC_boolean, False))
