[DEMO] pyrene flat ground stragith walk

script/dynamic/export_blender.py

@@ -53,11 +53,14 @@ gui.captureTransformOnRefresh(False)
 
 
 nodes = ['talos']
-r.client.gui.setCaptureTransform("/local/dev_hpp/screenBlender/talos/yaml/half_sitting0.yaml",nodes)
+r.client.gui.setCaptureTransform("/local/dev_hpp/screenBlender/talos/yaml/airbus_stairs.yaml",nodes)
 #r.client.gui.captureTransform()
+r(configsFull[0])
 r.client.gui.captureTransformOnRefresh(True)
+displayContactSequence(r,configsFull,0.1)
 r.client.gui.captureTransformOnRefresh(False)
 
+
 r.client.gui.writeBlenderScript("/local/dev_hpp/screenBlender/talos/models/pyrene.py", ['talos'])
 
 nodes = ["hrp2_14","Vec_Acceleration","Vec_Velocity"]

script/dynamic/talos/flatGround_pyrene_interp.py

@@ -160,7 +160,7 @@ from planning.configs.talos_flatGround import *
 from generate_contact_sequence import *
 
 beginState = 0
-endState = len(configsFull)-2
+endState = 6
 configs=configsFull[beginState:endState+1]
 cs = generateContactSequence(fullBody,configs,beginState, endState,r)
 #player.displayContactPlan()