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Commit b606a2c5 authored by Pierre Fernbach's avatar Pierre Fernbach
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[script] update talos_circle to use of usePosturalTaskContactCreation

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script/scenarios/memmo/talos_circle.py
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...@@ -60,7 +60,7 @@ q_ref = fullBody.referenceConfig[::]+[0]*6 ...@@ -60,7 +60,7 @@ q_ref = fullBody.referenceConfig[::]+[0]*6
#q_ref = fullBody.referenceConfig_legsApart[::]+[0]*6 #q_ref = fullBody.referenceConfig_legsApart[::]+[0]*6
q_init = q_ref[::] q_init = q_ref[::]
fullBody.setReferenceConfig(q_ref) fullBody.setReferenceConfig(q_ref)
fullBody.usePosturalTaskContactCreation(True)
if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) : if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6) fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
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