fullBody.setJointBounds('leg_left_1_joint', [-0.2, 0.7])
fullBody.setJointBounds('leg_left_3_joint', [-1.3, 0.4])
fullBody.setJointBounds('leg_right_1_joint', [-0.7, 0.2])
fullBody.setJointBounds('leg_right_3_joint', [-1.3, 0.4])
# add the 6 extraDof for velocity and acceleration (see *_path.py script)
fullBody.client.robot.setDimensionExtraConfigSpace(6)
vMax = 0.5 # linear velocity bound for the root
aMax = 0.5 # linear acceleration bound for the root
fullBody.client.robot.setExtraConfigSpaceBounds(
[-vMax, vMax, -vMax, vMax, 0, 0, -aMax, aMax, -aMax, aMax, 0, 0])
ps = ProblemSolver(fullBody)
vf = ViewerFactory(ps)
ps.setParameter("Kinodynamic/velocityBound", vMax)
ps.setParameter("Kinodynamic/accelerationBound", aMax)
ps.setRandomSeed(random.SystemRandom().randint(0, 999999))
#load the viewer
try:
v = vf.createViewer(displayCoM=True)
except Exception:
print("No viewer started !")
class FakeViewer():
sceneName = ""
def __init__(self):
return
def __call__(self, q):
return
