From 14071915b6856dc489bd0aedbea3752b58d6fb37 Mon Sep 17 00:00:00 2001 From: pFernbach <pierre.fernbach@gmail.com> Date: Wed, 1 May 2019 17:17:31 +0200 Subject: [PATCH] [script] circle oriented : don't use static value when path is close to straight line --- script/scenarios/memmo/talos_circle_oriented.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/script/scenarios/memmo/talos_circle_oriented.py b/script/scenarios/memmo/talos_circle_oriented.py index 1666e71c..fe5dec8e 100644 --- a/script/scenarios/memmo/talos_circle_oriented.py +++ b/script/scenarios/memmo/talos_circle_oriented.py @@ -80,11 +80,13 @@ tStart = time.time() nbSamples = 100000 fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, heuristicR, 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.85) -fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True) fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, heuristicL, 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.85) -fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True) +if not(tp.alpha <0.8*np.pi and tp.alpha > 0.2*np.pi) : # not close to straight line + fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True) + fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True) + tGenerate = time.time() - tStart print "Done." print "Databases generated in : "+str(tGenerate)+" s" -- GitLab