Commit 25d4bfa1 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[DEMO] pyrene flat ground stragith walk

parent 466ee04c
......@@ -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"]
......
......@@ -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()
......
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