[script] update talos_flatGround

script/scenarios/demos/talos_flatGround.py

@@ -25,16 +25,17 @@ v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
 q_ref = fullBody.referenceConfig[::]+[0]*6
 q_init = q_ref[::]
 fullBody.setReferenceConfig(q_ref)
+fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
 fullBody.setCurrentConfig (q_init)
 
 print "Generate limb DB ..."
 tStart = time.time()
 # generate databases : 
 
-nbSamples = 50000
-fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints)
+nbSamples = 100000
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.75)
 fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
-fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.75)
 fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
 
 
@@ -45,18 +46,18 @@ print "Databases generated in : "+str(tGenerate)+" s"
 #define initial and final configurations : 
 configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
 
-q_init[0:7] = tp.ps.configAtParam(pId,0.01)[0:7] # use this to get the correct orientation
+q_init[0:7] = tp.ps.configAtParam(pId,0.001)[0:7] # use this to get the correct orientation
 q_goal = q_init[::]; q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
-dir_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS:tp.indexECS+3]
-acc_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS+3:tp.indexECS+6]
-dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.01)[tp.indexECS:tp.indexECS+3]
+vel_init = tp.ps.configAtParam(pId,0)[tp.indexECS:tp.indexECS+3]
+acc_init = tp.ps.configAtParam(pId,0)[tp.indexECS+3:tp.indexECS+6]
+vel_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[tp.indexECS:tp.indexECS+3]
 acc_goal = [0,0,0]
 
 robTreshold = 3
 # copy extraconfig for start and init configurations
-q_init[configSize:configSize+3] = dir_init[::]
+q_init[configSize:configSize+3] = vel_init[::]
 q_init[configSize+3:configSize+6] = acc_init[::]
-q_goal[configSize:configSize+3] = dir_goal[::]
+q_goal[configSize:configSize+3] = vel_goal[::]
 q_goal[configSize+3:configSize+6] = [0,0,0]
 
 
@@ -81,7 +82,7 @@ fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lLegId])
 
 print "Generate contact plan ..."
 tStart = time.time()
-configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True)
+configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True,quasiStatic=True)
 tInterpolateConfigs = time.time() - tStart
 print "Done."
 print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"