hpp_tutorial
4.12.0
Tutorial for humanoid path planner platform.
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To run the tutorial, open a terminal and open 3 tabs by typing CTRL+SHIFT+T
twice. When the terminal is selected, you can select a tab by typing ALT-
[1|2|3].
In the first tab, type
See package hpp-manipulation-corba
for details.
In the second tab, type
Script script/tutorial_3.py
defines a manipulation planning problem.
In the third tab, type
A window opens and is ready to display the scene containing the robot. The robot, environment and object will appear later.
Note that gepetto-gui
and hppcorbaserver
executables are completely independent.
To display the scene, create a client to the viewer in the python terminal.
The robot and environment should appear in the viewer. If the viewer window is black, select the window and hit space.
To solve the problem, type
and to display the (non optimized) solution path, type
To optimize the solution path, select a path optimizer:
To display the solution: