example/fit: adjust to new api for set_robot_state

HiroIshida · Dec 25, 2024 · 9bb8b7f · 9bb8b7f
1 parent 286da4f
commit 9bb8b7f
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/example/beta/humanoid_lift_and_place_box.py b/example/beta/humanoid_lift_and_place_box.py
@@ -8,6 +8,7 @@
 
 from plainmp.constraint import EqCompositeCst, IneqCompositeCst
 from plainmp.ik import solve_ik
+from plainmp.kinematics import BaseType
 from plainmp.manifold_rrt.manifold_rrt_solver import ManiRRTConfig, ManiRRTConnectSolver
 from plainmp.nlp_solver import SQPBasedSolver, SQPBasedSolverConfig
 from plainmp.parallel import ParallelSolver
@@ -112,7 +113,7 @@
         v = PyrenderViewer()
         ground = Box([2, 2, 0.01])
         robot = jspec.get_robot_model(with_mesh=True)
-        set_robot_state(robot, jspec.control_joint_names, ik_ret1.q, True)
+        set_robot_state(robot, jspec.control_joint_names, ik_ret1.q, BaseType.FLOATING)
         robot.rarm_end_coords.assoc(box)
 
         v.add(ground)
@@ -123,7 +124,7 @@
         time.sleep(2)
 
         for q in ret.traj:
-            set_robot_state(robot, jspec.control_joint_names, q, True)
+            set_robot_state(robot, jspec.control_joint_names, q, BaseType.FLOATING)
             v.redraw()
             time.sleep(0.1)
         time.sleep(10)
diff --git a/example/beta/humanoid_planning.py b/example/beta/humanoid_planning.py
@@ -8,6 +8,7 @@
 
 from plainmp.constraint import EqCompositeCst, IneqCompositeCst
 from plainmp.ik import solve_ik
+from plainmp.kinematics import BaseType
 from plainmp.manifold_rrt.manifold_rrt_solver import ManiRRTConfig, ManiRRTConnectSolver
 from plainmp.nlp_solver import SQPBasedSolver, SQPBasedSolverConfig
 from plainmp.parallel import ParallelSolver
@@ -79,15 +80,15 @@
     if args.visualize:
         v = PyrenderViewer()
         robot = jspec.get_robot_model(with_mesh=True)
-        set_robot_state(robot, jspec.control_joint_names, ik_ret.q, True)
+        set_robot_state(robot, jspec.control_joint_names, ik_ret.q, BaseType.FLOATING)
         ground = Box([2, 2, 0.01])
         v.add(ground)
         v.add(table)
         v.add(robot)
         v.show()
         time.sleep(2)
         for q in ret.traj:
-            set_robot_state(robot, jspec.control_joint_names, q, True)
+            set_robot_state(robot, jspec.control_joint_names, q, BaseType.FLOATING)
             v.redraw()
             time.sleep(0.15)
         time.sleep(20)