From 04ae09f144d7034643474c94f965319146b83e21 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Thu, 2 May 2019 11:11:25 +0200
Subject: [PATCH] [tools] REVERT sampletransition : try to project init state
COM to be more robust
---
script/tools/sample_random_transition.py | 8 --------
1 file changed, 8 deletions(-)
diff --git a/script/tools/sample_random_transition.py b/script/tools/sample_random_transition.py
index 673f4b4b..6560e8b4 100644
--- a/script/tools/sample_random_transition.py
+++ b/script/tools/sample_random_transition.py
@@ -80,10 +80,6 @@ def sampleRandomStateFlatFloor(fullBody,limbsInContact,z):
s0, success = StateHelper.addNewContact(s0,limb,p,n,lockOtherJoints=True)
if not success:
break
- if success :
- sProj = projectMidFeet(fullBody,s0)
- if sProj is not None:
- s0 = sProj
if success :
# check stability
success = fullBody.isStateBalanced(s0.sId,5)
@@ -111,10 +107,6 @@ def sampleRandomStateStairs(fullBody,limbsInContact,zInterval,movingLimb,z_movin
s0, success = StateHelper.addNewContact(s0,limb,p,n,lockOtherJoints=True)
if not success:
break
- if success :
- sProj = projectMidFeet(fullBody,s0)
- if sProj is not None:
- s0 = sProj
if success :
# check stability
success = fullBody.isStateBalanced(s0.sId,5)
--
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