Commit eef2ca51 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[constraints] add com and relative_feet constraints for LP formulation

parent 9d1ff951
# Blender v2.77 (sub 0) OBJ File: ''
# www.blender.org
mtllib talos_COM_constraints_in_LF_effector_frame_REDUCED.mtl
o foo
v -0.771961 -0.220100 0.340886
v 0.468488 -0.294134 0.443468
v -0.508327 -0.419880 0.669492
v -0.717610 -0.228508 0.583043
v -0.564214 -0.236258 0.829571
v -0.646388 -0.036936 0.779969
v -0.524629 -0.136841 0.924610
v -0.813536 -0.051146 0.391921
v 0.619806 -0.004938 0.706450
v 0.563763 -0.020915 0.433749
v 0.442231 0.023439 0.548244
v 0.591956 -0.026680 0.827795
v 0.480741 0.026215 0.886168
v 0.640538 -0.162132 0.569433
v -0.250361 -0.244353 1.029513
v -0.490440 -0.188501 0.928836
v 0.090747 -0.265836 1.051106
v 0.443672 -0.375567 0.702309
v 0.353661 -0.304828 0.903122
v -0.243367 -0.226528 1.035051
v 0.064931 -0.042584 1.077078
v 0.612067 -0.281967 0.487917
v -0.766870 0.041182 0.323625
v 0.421432 0.048969 0.863399
v 0.333842 -0.253153 0.976829
v 0.409360 -0.159422 0.974145
v 0.324541 -0.030077 1.016397
v 0.620278 -0.152411 0.687036
v 0.209236 -0.137034 1.059685
v -0.454874 0.013537 0.978780
v 0.478551 -0.203808 0.897281
v -0.621492 0.030284 0.766164
v -0.183039 0.042892 1.019722
v 0.577386 -0.251809 0.743933
v -0.782787 0.017294 0.460098
v -0.061083 0.040468 1.046608
vn 0.9753 -0.0257 0.2192
vn 0.2232 -0.7689 0.5991
vn -0.3175 0.9397 0.1274
vn 0.0623 -0.9323 0.3563
vn 0.0477 -0.1100 0.9928
vn 0.9850 -0.0194 0.1713
vn -0.9006 0.4337 -0.0291
vn 0.1648 0.5504 0.8185
vn 0.8311 -0.2406 0.5014
vn -0.4187 -0.2047 0.8848
vn -0.8108 -0.0228 -0.5849
vn 0.0293 0.9965 -0.0788
vn 0.5720 0.1095 0.8129
vn -0.6485 -0.3750 0.6624
vn -0.0088 0.9999 0.0049
vn 0.9364 -0.2976 0.1859
vn 0.2916 -0.3281 0.8985
vn 0.1907 0.7969 0.5732
vn 0.5492 0.2896 0.7839
vn 0.0689 0.9527 -0.2959
vn -0.4000 -0.1390 0.9059
vn 0.5403 -0.5273 0.6558
vn 0.5241 0.8093 0.2653
vn -0.0777 -0.2679 0.9603
vn 0.2363 0.9711 -0.0349
vn 0.0326 -0.9435 0.3298
vn -0.0620 -0.1224 0.9905
vn -0.7778 -0.4163 0.4709
vn -0.0530 0.9977 0.0420
vn -0.1752 0.0937 0.9801
vn -0.6981 -0.7037 0.1323
vn 0.5237 -0.6835 0.5084
vn -0.4160 -0.6592 0.6264
vn -0.8131 -0.1991 0.5470
vn 0.3749 -0.1467 0.9154
vn -0.1776 0.0735 0.9813
vn 0.2177 0.1552 0.9636
vn -0.9357 -0.2906 0.1999
vn 0.6857 -0.1605 0.7100
vn -0.0086 -0.8575 -0.5144
vn 0.7758 -0.6058 0.1765
vn -0.7306 0.1965 0.6539
vn -0.8214 0.3897 0.4164
vn -0.1324 0.9746 0.1805
vn -0.1809 0.4715 0.8631
vn 0.0061 0.9980 0.0623
vn -0.9169 -0.0448 0.3966
vn 0.1590 0.8740 0.4592
vn 0.2497 0.9623 -0.1077
vn 0.9293 0.3046 -0.2088
vn 0.9002 0.0776 -0.4285
vn 0.3036 -0.1394 -0.9425
vn 0.1671 -0.9450 -0.2813
vn 0.0546 -0.9540 -0.2949
vn -0.0855 -0.8701 0.4855
vn -0.4126 -0.6667 0.6207
vn 0.0789 -0.0650 -0.9948
usemtl None
s off
f 12//1 28//1 9//1
f 19//2 25//2 17//2
f 35//3 32//3 23//3
f 19//4 17//4 18//4
f 29//5 21//5 17//5
f 28//6 14//6 9//6
f 8//7 35//7 23//7
f 21//8 27//8 36//8
f 34//9 28//9 12//9 31//9
f 7//10 16//10 15//10
f 1//11 8//11 23//11
f 24//12 11//12 23//12
f 26//13 12//13 27//13
f 16//14 7//14 5//14
f 33//15 24//15 23//15
f 28//16 34//16 14//16
f 25//17 29//17 17//17
f 27//18 13//18 36//18
f 27//19 12//19 13//19
f 11//20 10//20 23//20
f 15//21 20//21 30//21 7//21
f 31//22 26//22 25//22 19//22
f 12//23 9//23 13//23
f 20//24 15//24 17//24
f 9//25 11//25 24//25 13//25
f 18//26 17//26 3//26
f 21//27 20//27 17//27
f 4//28 3//28 5//28 6//28
f 32//29 33//29 23//29
f 21//30 36//30 30//30
f 3//31 4//31 1//31
f 31//32 19//32 18//32 34//32
f 16//33 5//33 15//33
f 5//34 7//34 6//34
f 29//35 25//35 26//35 27//35
f 20//36 21//36 30//36
f 29//37 27//37 21//37
f 4//38 8//38 1//38
f 26//39 31//39 12//39
f 2//40 3//40 1//40
f 34//41 18//41 22//41 14//41
f 30//42 32//42 6//42 7//42
f 6//43 32//43 35//43
f 30//44 33//44 32//44
f 30//45 36//45 33//45
f 36//46 24//46 33//46
f 6//47 35//47 8//47 4//47
f 36//48 13//48 24//48
f 9//49 10//49 11//49
f 9//50 14//50 10//50
f 14//51 22//51 10//51
f 22//52 2//52 10//52
f 22//53 18//53 2//53
f 18//54 3//54 2//54
f 17//55 15//55 3//55
f 15//56 5//56 3//56
f 2//57 1//57 23//57 10//57
# Blender v2.77 (sub 0) OBJ File: ''
# www.blender.org
mtllib talos_COM_constraints_in_RF_effector_frame_REDUCED.mtl
o foo
v 0.620285 0.291967 0.632786
v 0.417405 0.142919 0.328620
v 0.513849 0.336769 0.650566
v 0.477939 0.274896 0.874863
v 0.647089 0.112693 0.699607
v -0.720861 0.218553 0.396644
v -0.669698 0.282514 0.519054
v -0.450046 0.327329 0.827699
v 0.137979 0.226373 1.057303
v 0.334383 0.070777 1.009706
v -0.740770 0.210861 0.543518
v -0.776648 0.077067 0.404342
v 0.636395 -0.040284 0.643199
v 0.587908 0.072656 0.774033
v 0.401611 -0.012749 0.858633
v -0.060136 -0.027755 1.060663
v -0.142074 -0.026648 1.071049
v -0.716516 -0.013876 0.567327
v 0.403107 0.299932 0.943485
v -0.733100 0.061681 0.606845
v -0.650711 0.175803 0.784998
v -0.669705 0.274900 0.623852
v -0.488603 0.284942 0.870313
v 0.461412 0.008199 0.396047
v 0.115319 -0.035534 0.959361
v -0.670324 -0.031051 0.655123
v -0.440980 -0.041442 0.936769
v -0.417148 0.246614 0.968573
v -0.436416 0.137212 0.980089
v 0.448731 0.133943 0.949939
v 0.021409 0.267722 1.041373
v 0.285294 0.079032 0.335878
v -0.543912 0.000475 0.897135
v -0.308403 -0.040146 1.013818
v 0.008499 0.234884 1.062614
v -0.256917 0.146839 1.053392
v 0.137201 0.288875 1.008677
v -0.394509 0.176219 0.993326
v -0.268222 0.256203 1.021756
v -0.078739 0.222290 1.066180
vn 0.8238 0.0116 -0.5667
vn 0.0142 0.9914 0.1300
vn 0.5978 -0.4838 0.6392
vn 0.8188 -0.2481 0.5176
vn -0.9803 0.1814 0.0783
vn -0.3453 0.2209 0.9121
vn 0.0395 0.0095 0.9992
vn 0.2683 -0.7875 0.5548
vn -0.4656 -0.8132 0.3491
vn -0.0073 -0.9995 -0.0309
vn 0.0057 0.9818 0.1900
vn -0.0777 0.6043 0.7929
vn -0.3745 -0.0614 0.9252
vn 0.4495 -0.6819 0.5770
vn 0.0117 -0.9803 0.1971
vn 0.1874 -0.9277 0.3228
vn -0.1923 -0.0274 0.9810
vn 0.7836 -0.0035 0.6212
vn -0.7001 0.7121 0.0517
vn -0.9373 -0.2992 0.1788
vn 0.9582 0.0376 -0.2836
vn -0.8365 -0.2322 0.4962
vn 0.2326 -0.8524 0.4684
vn 0.5997 0.6922 0.4015
vn -0.0320 0.9921 -0.1213
vn 0.0162 -0.9990 0.0418
vn 0.7996 0.2383 0.5512
vn 0.3638 0.1563 0.9183
vn 0.1654 0.6069 0.7774
vn -0.0591 0.0087 -0.9982
vn 0.6982 0.2184 0.6817
vn -0.2955 0.7975 0.5260
vn -0.0632 0.9165 0.3951
vn 0.0039 -0.9999 0.0102
vn -0.4607 -0.1667 0.8718
vn -0.0643 -0.0289 -0.9975
vn 0.0728 -0.0264 0.9970
vn -0.6645 0.0710 0.7439
vn -0.6028 0.6813 0.4152
vn 0.1535 -0.1067 0.9824
vn -0.0087 -0.9824 -0.1868
vn -0.8983 0.2376 0.3695
vn 0.0265 -0.9922 0.1221
vn -0.4626 -0.3773 0.8023
vn 0.1459 -0.4043 -0.9029
vn -0.0521 -0.8801 -0.4719
vn -0.7190 0.6923 -0.0612
vn -0.2920 0.9539 0.0693
vn 0.4114 0.8720 0.2652
vn -0.6417 0.1912 0.7427
vn -0.0441 -0.7082 -0.7046
vn -0.8471 -0.3801 0.3713
vn 0.5996 -0.4788 0.6412
vn -0.2398 0.8171 0.5242
vn -0.0589 0.9203 0.3867
vn -0.4372 0.1700 0.8832
vn -0.6329 0.4447 0.6337
vn 0.0954 0.5805 0.8087
vn -0.0462 0.5553 0.8304
vn -0.1769 0.2566 0.9502
vn 0.2432 0.7971 -0.5528
vn 0.0218 0.8616 -0.5071
usemtl None
s off
f 13//1 24//1 2//1 1//1
f 8//2 19//2 3//2
f 14//3 10//3 13//3
f 5//4 14//4 13//4
f 20//5 11//5 6//5 12//5
f 36//6 39//6 28//6 38//6
f 35//7 40//7 17//7
f 16//8 15//8 10//8
f 33//9 26//9 27//9
f 27//10 26//10 13//10
f 8//11 37//11 19//11
f 40//12 31//12 39//12
f 38//13 29//13 34//13 36//13
f 10//14 15//14 13//14
f 16//15 17//15 34//15
f 15//16 25//16 13//16
f 40//17 36//17 34//17 17//17
f 30//18 14//18 5//18
f 11//19 22//19 7//19
f 20//20 12//20 18//20
f 5//21 13//21 1//21
f 20//22 26//22 33//22 21//22
f 16//23 25//23 15//23
f 19//24 4//24 1//24
f 7//25 8//25 3//25
f 25//26 34//26 13//26
f 5//27 1//27 4//27 30//27
f 10//28 30//28 19//28 9//28
f 37//29 9//29 19//29
f 32//30 6//30 2//30
f 30//31 4//31 19//31
f 23//32 28//32 8//32
f 39//33 31//33 8//33
f 34//34 27//34 13//34
f 29//35 33//35 34//35
f 12//36 6//36 32//36
f 35//37 17//37 16//37 9//37
f 21//38 33//38 29//38
f 21//39 23//39 8//39 22//39
f 9//40 16//40 10//40
f 26//41 18//41 24//41 13//41
f 21//42 22//42 11//42 20//42
f 16//43 34//43 25//43
f 33//44 27//44 34//44
f 24//45 32//45 2//45
f 18//46 12//46 24//46
f 11//47 7//47 6//47
f 22//48 8//48 7//48
f 19//49 1//49 3//49
f 21//50 29//50 28//50
f 12//51 32//51 24//51
f 20//52 18//52 26//52
f 30//53 10//53 14//53
f 28//54 39//54 8//54
f 31//55 37//55 8//55
f 29//56 38//56 28//56
f 21//57 28//57 23//57
f 31//58 35//58 9//58 37//58
f 40//59 35//59 31//59
f 36//60 40//60 39//60
f 3//61 1//61 2//61
f 6//62 7//62 3//62 2//62
# Blender v2.77 (sub 0) OBJ File: ''
# www.blender.org
mtllib talos_LF_constraints_in_RF_quasi_flat_REDUCED.mtl
o foo
v -0.343902 0.873649 0.563283
v -0.246093 0.440533 -0.522028
v -0.316636 0.639755 -0.382398
v 0.190417 0.368876 -0.564590
v -0.042532 0.728959 -0.277092
v -0.174739 0.785187 -0.194369
v 0.329961 0.800311 0.006626
v -0.346193 0.293722 -0.450179
v -0.310104 0.190606 -0.475631
v -0.046029 0.344797 -0.559881
v 0.343458 0.825942 0.104246
v 0.342192 0.412583 -0.387172
v 0.336714 0.222618 -0.245047
v 0.279631 0.241383 -0.495101
v 0.164758 0.794634 0.610727
v -0.195435 0.558858 0.614339
v -0.292490 0.188464 0.392388
v 0.296530 0.223744 0.567556
v -0.338240 0.296456 0.500298
v 0.322679 0.226204 -0.313885
v 0.322292 0.711536 0.539728
v 0.149285 0.647921 0.617583
v 0.213816 0.900633 0.274600
v 0.347981 0.188394 0.097360
v -0.333732 0.182866 -0.057566
v -0.343395 0.201466 -0.372144
v 0.099770 0.877321 0.471264
v 0.341054 0.184809 0.036949
v -0.345758 0.185694 0.251725
v 0.236139 0.884025 0.328076
vn 0.1077 0.9340 -0.3407
vn -0.9274 -0.2576 -0.2713
vn -0.9992 -0.0138 0.0364
vn -0.7407 0.1895 -0.6446
vn -0.0476 0.2797 -0.9589
vn 0.3956 -0.9095 -0.1280
vn 0.0294 -0.4624 -0.8862
vn 0.9976 -0.0576 -0.0386
vn 0.1804 -0.9757 -0.1246
vn 0.9999 0.0072 -0.0086
vn 0.4781 0.7955 0.3723
vn 0.0457 -0.9966 -0.0693
vn -0.0660 -0.2323 0.9704
vn 0.8872 -0.4553 -0.0747
vn -0.9991 0.0374 -0.0191
vn -0.7402 -0.6056 0.2922
vn 0.9968 -0.0174 0.0784
vn 0.0143 -0.4982 -0.8670
vn 0.8792 -0.0212 -0.4759
vn 0.9617 -0.1815 -0.2055
vn -0.0128 -0.9710 0.2386
vn -0.5041 -0.0986 0.8580
vn 0.0534 0.6242 -0.7794
vn 0.0915 0.8747 0.4760
vn 0.0184 0.9916 0.1282
vn -0.1209 0.9825 -0.1417
vn -0.5443 0.8106 -0.2162
vn -0.0320 0.8021 -0.5963
vn 0.3351 0.7107 -0.6186
vn 0.5152 0.6187 -0.5931
vn 0.9557 0.2241 -0.1910
vn 0.5360 0.8433 0.0382
vn 0.7557 0.6235 0.2005
vn 0.1846 0.9440 -0.2734
vn 0.4235 0.0293 0.9054
vn -0.3282 -0.0905 -0.9403
vn 0.3419 0.0079 0.9397
vn -0.4217 -0.9058 -0.0406
vn 0.1844 0.9578 0.2205
vn -0.0602 0.1072 0.9924
vn 0.0016 -1.0000 0.0092
vn -0.7001 -0.7137 -0.0207
vn -0.9994 -0.0342 -0.0047
vn 0.0102 -0.9995 0.0285
usemtl None
s off
f 7//1 5//1 6//1 23//1
f 8//2 9//2 26//2
f 19//3 1//3 29//3
f 3//4 2//4 8//4
f 4//5 10//5 2//5
f 20//6 13//6 28//6
f 4//7 14//7 10//7
f 13//8 12//8 24//8
f 14//9 20//9 28//9
f 12//10 11//10 24//10
f 30//11 27//11 15//11 21//11
f 28//12 25//12 9//12 14//12
f 22//13 16//13 19//13 18//13
f 13//14 24//14 28//14
f 1//15 3//15 8//15 29//15
f 17//16 19//16 29//16
f 21//17 18//17 24//17 11//17
f 10//18 14//18 9//18
f 4//19 12//19 20//19 14//19
f 12//20 13//20 20//20
f 18//21 19//21 17//21 24//21
f 16//22 1//22 19//22
f 5//23 4//23 2//23 3//23
f 15//24 27//24 1//24
f 27//25 23//25 1//25
f 23//26 6//26 1//26
f 6//27 3//27 1//27
f 6//28 5//28 3//28
f 5//29 7//29 4//29
f 7//30 12//30 4//30
f 7//31 11//31 12//31
f 23//32 30//32 11//32
f 30//33 21//33 11//33
f 7//34 23//34 11//34
f 15//35 18//35 21//35
f 2//36 10//36 9//36 8//36
f 15//37 22//37 18//37
f 26//38 9//38 25//38
f 30//39 23//39 27//39
f 22//40 15//40 1//40 16//40
f 28//41 29//41 25//41
f 29//42 26//42 25//42
f 29//43 8//43 26//43
f 17//44 29//44 28//44 24//44
# Blender v2.77 (sub 0) OBJ File: ''
# www.blender.org
mtllib talos_RF_constraints_in_LF_quasi_flat_REDUCED.mtl
o foo
v 0.074152 -0.912322 0.346961
v 0.337610 -0.762291 0.513917
v -0.251538 -0.917320 0.371109
v -0.331802 -0.618950 0.538435
v -0.338636 -0.258711 0.500236
v -0.245588 -0.184966 0.500152
v -0.007460 -0.760086 -0.268260
v -0.336097 -0.477041 -0.457372
v -0.330169 -0.346221 -0.509742
v -0.275646 -0.354604 -0.581284
v -0.314903 -0.205896 -0.378054
v 0.303981 -0.185612 0.387452
v -0.060798 -0.389734 -0.673594
v 0.207596 -0.248020 -0.581029
v -0.335717 -0.189447 -0.075045
v -0.195744 -0.538260 -0.608216
v 0.150214 -0.888616 0.173444
v 0.319100 -0.832487 0.310836
v -0.305990 -0.840699 0.459188
v 0.271555 -0.573481 -0.408854
v 0.312010 -0.181846 -0.317769
v 0.338993 -0.286385 0.384315
v -0.074032 -0.585113 -0.573917
v 0.246852 -0.180381 -0.489950
v 0.319116 -0.250973 -0.458221
v 0.324342 -0.576528 -0.284838
v 0.344409 -0.195788 0.061247
v 0.298307 -0.256619 0.437545
v -0.333807 -0.838394 0.222548
v 0.335113 -0.259115 -0.378870
v -0.293470 -0.850701 0.210493
vn -1.0000 0.0070 -0.0042
vn -0.2176 -0.2207 -0.9507
vn 0.1671 0.5594 0.8119
vn 0.4371 -0.3824 -0.8141
vn 0.9403 0.3234 0.1064
vn -0.7665 -0.2288 -0.6001
vn -0.1629 0.7950 -0.5844
vn 0.3087 0.9511 0.0086
vn 0.6517 -0.6989 -0.2946
vn 0.9398 0.3348 -0.0680
vn -0.9991 0.0351 -0.0254
vn -0.6098 -0.7076 -0.3570
vn 0.9998 0.0018 0.0173
vn 0.8238 0.1467 0.5476
vn -0.0812 0.1036 0.9913
vn 0.9328 -0.1577 -0.3242
vn 0.7217 -0.2075 -0.6604
vn -0.6185 0.7805 0.0908
vn 0.8319 0.2740 0.4826
vn -0.0568 0.9967 -0.0580
vn -0.9808 0.1791 -0.0771
vn -0.6184 0.5725 -0.5384
vn -0.1620 0.7361 -0.6572
vn 0.7949 0.5594 -0.2351
vn -0.0069 1.0000 0.0012
vn -0.2409 -0.9171 -0.3175
vn 0.6765 0.4210 -0.6042
vn -0.0588 -0.9639 -0.2595
vn 0.0053 -0.9911 -0.1331
vn 0.0577 -0.7861 0.6154
vn 0.0081 1.0000 0.0054
vn 0.0338 -0.7436 0.6678
vn -0.9813 -0.1549 0.1138
vn -0.9997 -0.0170 0.0182
vn -1.0000 -0.0079 -0.0008
vn -0.6872 -0.7264 -0.0054
vn -0.3468 -0.8618 -0.3703
vn -0.2068 -0.8678 -0.4518
vn 0.2765 -0.8068 -0.5221
vn 0.3744 -0.8459 -0.3798
vn 0.3107 -0.9505 0.0064
vn 0.5224 -0.7908 -0.3191
vn 0.3346 -0.8997 0.2805
vn -0.0384 -0.3402 0.9395
vn 0.9907 -0.1277 -0.0462
vn 0.9988 -0.0417 -0.0263
vn 0.9995 -0.0259 -0.0174
vn 0.0916 0.1161 0.9890
usemtl None
s off
f 15//1 8//1 5//1
f 13//2 23//2 16//2 10//2
f 28//3 12//3 6//3
f 13//4 14//4 20//4 23//4
f 12//5 22//5 27//5
f 10//6 16//6 8//6 9//6
f 11//7 24//7 14//7 10//7
f 21//8 12//8 27//8
f 26//9 18//9 20//9
f 21//10 27//10 30//10
f 15//11 9//11 8//11
f 16//12 31//12 29//12 8//12
f 27//13 22//13 2//13
f 22//14 28//14 2//14
f 6//15 5//15 4//15
f 25//16 30//16 26//16 20//16
f 14//17 25//17 20//17
f 6//18 15//18 5//18
f 12//19 28//19 22//19
f 24//20 11//20 15//20
f 11//21 9//21 15//21
f 11//22 10//22 9//22
f 14//23 13//23 10//23
f 24//24 21//24 30//24 25//24
f 24//25 15//25 6//25 12//25
f 31//26 7//26 3//26
f 14//27 24//27 25//27
f 7//28 17//28 3//28
f 17//29 1//29 3//29
f 1//30 2//30 3//30
f 21//31 24//31 12//31
f 2//32 19//32 3//32
f 19//33 4//33 29//33
f 4//34 5//34 29//34
f 5//35 8//35 29//35
f 19//36 29//36 31//36 3//36
f 16//37 7//37 31//37
f 16//38 23//38 7//38
f 23//39 20//39 7//39
f 20//40 17//40 7//40
f 18//41 1//41 17//41
f 20//42 18//42 17//42
f 18//43 2//43 1//43
f 4//44 19//44 2//44
f 18//45 26//45 2//45
f 26//46 30//46 2//46
f 30//47 27//47 2//47
f 6//48 4//48 2//48 28//48
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment