From fec0700742a5104c3d5c813b8d0600b0b9296a13 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Fri, 18 Jan 2019 16:21:20 +0100
Subject: [PATCH] [script] add kinematic constraints path in talos script
---
script/scenarios/demos/talos_flatGround.py | 8 ++++----
script/scenarios/demos/talos_flatGround_path.py | 2 +-
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/script/scenarios/demos/talos_flatGround.py b/script/scenarios/demos/talos_flatGround.py
index 2babd638..fbde162c 100644
--- a/script/scenarios/demos/talos_flatGround.py
+++ b/script/scenarios/demos/talos_flatGround.py
@@ -31,10 +31,10 @@ print "Generate limb DB ..."
tStart = time.time()
# generate databases :
-nbSamples = 10000
-fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01)
+nbSamples = 50000
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints)
fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
-fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep06", 0.01)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints)
fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
@@ -81,7 +81,7 @@ 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,testReachability=False)
+configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True)
tInterpolateConfigs = time.time() - tStart
print "Done."
print "number of configs :", len(configs)
diff --git a/script/scenarios/demos/talos_flatGround_path.py b/script/scenarios/demos/talos_flatGround_path.py
index 9088cfb0..5049bfa3 100644
--- a/script/scenarios/demos/talos_flatGround_path.py
+++ b/script/scenarios/demos/talos_flatGround_path.py
@@ -87,7 +87,7 @@ pp = PathPlayer (v)
pp.dt=0.03
pp.displayVelocityPath(0)
v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
-pp(0)
+#pp(0)
# move the robot out of the view before computing the contacts
q_far = q_init[::]
--
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