def makeRobotProblemAndViewerFactory(corbaclient):
robot = Robot("dev",
"talos",
rootJointType="freeflyer",
client=corbaclient)
robot.leftAnkle = "talos/leg_left_6_joint"
robot.rightAnkle = "talos/leg_right_6_joint"
robot.setJointBounds("talos/root_joint", [-1, 1, -1, 1, 0.5, 1.5])
ps = ProblemSolver(robot)
ps.setRandomSeed(123)
ps.selectPathProjector("Progressive", 0.2)
ps.setErrorThreshold(1e-3)
ps.setMaxIterProjection(40)
ps.addPathOptimizer("SimpleTimeParameterization")
vf = ViewerFactory(ps)
vf.loadObjectModel(Object, "box")
robot.setJointBounds("box/root_joint", [-1, 1, -1, 1, 0, 2])
vf.loadEnvironmentModel(Table, "table")
return robot, ps, vf
Robot.urdfName = "talos"
Robot.urdfSuffix = '_full'
Robot.srdfSuffix= ''
class Box (object):
rootJointType = 'freeflyer'
packageName = 'hpp_tutorial'
meshPackageName = 'hpp_tutorial'
urdfName = 'cup'
urdfSuffix = ""
srdfSuffix = ""
handles = [ "box/top", "box/bottom" ]
robot = Robot ('dev', 'talos', rootJointType = "freeflyer")
robot. leftAnkle = "talos/leg_left_6_joint"
robot.rightAnkle = "talos/leg_right_6_joint"
robot.setJointBounds ("talos/root_joint", [-1, 1, -1, 1, 0.5, 1.5])
ps = ProblemSolver (robot)
ps.setRandomSeed(123)
ps.selectPathProjector("Progressive", 0.2)
ps.setErrorThreshold (1e-3)
ps.setMaxIterProjection (40)
ps.addPathOptimizer("SimpleTimeParameterization")
vf = ViewerFactory (ps)
Object = Box
vf.loadObjectModel (Object, 'box')
robot.setJointBounds ("box/root_joint", [-1, 1, -1, 1, 0, 2])
