From 3df2ac332aa77933fae144e6fc335645d6a9e33b Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Thu, 2 May 2019 10:40:50 +0200
Subject: [PATCH] [script] moveEffector correctly write configs in infos.log
file
---
script/scenarios/memmo/talos_moveEffector_flat.py | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/script/scenarios/memmo/talos_moveEffector_flat.py b/script/scenarios/memmo/talos_moveEffector_flat.py
index 5a98e0de..2d7aaf1e 100644
--- a/script/scenarios/memmo/talos_moveEffector_flat.py
+++ b/script/scenarios/memmo/talos_moveEffector_flat.py
@@ -12,7 +12,7 @@ statusFilename = "infos.log"
fullBody = Robot ()
# Set the bounds for the root
-fullBody.setJointBounds ("root_joint", [-0.3,0.3, -0.3, 0.3, 0.9, 1.05])
+fullBody.setJointBounds ("root_joint", [-0.3,0.3, -0.3, 0.3, 1.01, 1.03])
## reduce bounds on joints along x, to put conservative condition on the contact generation for sideway steps
joint6L_bounds_prev=fullBody.getJointBounds('leg_left_6_joint')
joint2L_bounds_prev=fullBody.getJointBounds('leg_left_2_joint')
@@ -108,7 +108,9 @@ else:
print "Contact generation failed."
-f = open(statusFilename,"a")
+f = open(statusFilename,"w")
+f.write("q_init= "+str(s0.q())+"\n")
+f.write("q_goal= "+str(s1.q())+"\n")
f.write("cg_success: "+str(cg_success)+"\n")
f.write("cg_reach_goal: "+str(cg_reach_goal)+"\n")
f.close()
--
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