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Merged
psardin001 merged 4 commits into from
Feb 18, 2026
Merged

Switch to viser viewer #153

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bdef8fe
Add hpp python tutorial
psardin001 Sep 19, 2025
eb0f3db
fix call to display
psardin001 Oct 15, 2025
f54c253
Switch to viser viewer
psardin001 Feb 18, 2026
e52f448
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Feb 18, 2026
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38 changes: 24 additions & 14 deletions script/hpp_python_tutorial_1.py
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Original file line number Diff line number Diff line change
@@ -1,18 +1,17 @@
import numpy as np
from pinocchio import SE3
from pyhpp.core import DiffusingPlanner, Problem
from pyhpp.gepetto import Viewer
from pyhpp.pinocchio import Device
from pyhpp.core import DiffusingPlanner, Problem, RandomShortcut
from pyhpp.pinocchio import Device, urdf
from pyhpp.viser import Viewer

urdfFilename = "package://example-robot-data/robots/pr2_description/urdf/pr2.urdf"
srdfFilename = "package://example-robot-data/robots/pr2_description/srdf/pr2.srdf"
rootJointType = "planar"
# Initialize robot and viewer
robot = Device.create("ur2")
viewer = Viewer("tutorial_1", robot)
robot = Device("ur2")

viewer.addURDFToScene(
0, "r0", rootJointType, urdfFilename, srdfFilename, SE3.Identity()
urdf.loadModel(
robot, 0, "r0", rootJointType, urdfFilename, srdfFilename, SE3.Identity()
)

# Define initial and goal configurations
Expand All @@ -25,7 +24,7 @@
upperLimit = model.upperPositionLimit

# Set root_joint bounds specifically
root_joint_bounds = [-4, -3, -5, -3] # [x_lower, x_upper, y_lower, y_upper]
root_joint_bounds = [-4, -3, -5, -3]
ij = model.getJointId("r0/root_joint")
iq = model.idx_qs[ij]

Expand Down Expand Up @@ -58,18 +57,29 @@
rank = rankInConfiguration["r_elbow_flex_joint"]
q_goal[rank] = -0.5

viewer.addURDFObstacleToScene(
"package://hpp_tutorial/urdf/kitchen_area_obstacle.urdf", "kitchen"
urdf.loadModel(
robot,
0,
"kitchen_area",
"anchor",
"package://hpp_tutorial/urdf/kitchen_area_obstacle.urdf",
"",
SE3.Identity(),
)

viewer.applyConfiguration(q_goal)

# Setup problem and RRT components
problem = Problem(robot)
problem.initConfig(q_init)
problem.addGoalConfig(q_goal)

diffusingPlanner = DiffusingPlanner(problem)

path_optimizer = RandomShortcut(problem)
path = diffusingPlanner.solve()
viewer.displayPath(path)
opt_path = path_optimizer.optimize(path)

# launch in interactive mode to use viewer
viewer = Viewer(robot)
viewer.initViewer(open=True, loadModel=True)
viewer(np.array(q_init))
viewer.loadPath(path, "path")
viewer.loadPath(opt_path, "opt_path")