From 2e031c43af0e83c305a1a21090fdfe78bfc39b2e Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Wed, 20 Dec 2017 15:47:29 +0100
Subject: [PATCH] small changes in scripts
---
script/dynamic/flatGround_hrp2_interpSTATIC.py | 2 +-
script/dynamic/flatGround_hrp2_pathKino.py | 6 +++---
script/dynamic/flatGround_hyq_pathKino.py | 1 +
script/tools/generate_contact_sequence.py | 2 +-
4 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/script/dynamic/flatGround_hrp2_interpSTATIC.py b/script/dynamic/flatGround_hrp2_interpSTATIC.py
index 5524705..6922ce2 100644
--- a/script/dynamic/flatGround_hrp2_interpSTATIC.py
+++ b/script/dynamic/flatGround_hrp2_interpSTATIC.py
@@ -158,7 +158,7 @@ from planning.config import *
from generate_contact_sequence import *
beginState = 0
-endState = len(configsFull)-1
+endState = 4
configs=configsFull[beginState:endState+1]
cs = generateContactSequence(fullBody,configs,beginState, endState,r)
#player.displayContactPlan()
diff --git a/script/dynamic/flatGround_hrp2_pathKino.py b/script/dynamic/flatGround_hrp2_pathKino.py
index f732fdf..6b6f8fe 100644
--- a/script/dynamic/flatGround_hrp2_pathKino.py
+++ b/script/dynamic/flatGround_hrp2_pathKino.py
@@ -75,7 +75,7 @@ afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
# Setting initial and goal configurations
q_init = rbprmBuilder.getCurrentConfig ();
q_init[3:7] = [1,0,0,0]
-q_init [0:3] = [0, 0, 0.55]; r (q_init)
+q_init [0:3] = [0, 0, 0.58]; r (q_init)
#q_init[3:7] = [0.7071,0,0,0.7071]
#q_init [0:3] = [1, 1, 0.65]
@@ -85,7 +85,7 @@ q_goal = q_init [::]
q_goal[3:7] = [1,0,0,0]
-q_goal [0:3] = [2, 0, 0.55]; r (q_goal)
+q_goal [0:3] = [2, 0, 0.58]; r (q_goal)
r (q_goal)
#~ q_goal [0:3] = [-1.5, 0, 0.63]; r (q_goal)
@@ -100,7 +100,7 @@ ps.client.problem.selectPathValidation("RbprmDynamicPathValidation",0.05)
ps.selectSteeringMethod("RBPRMKinodynamic")
ps.selectDistance("KinodynamicDistance")
ps.selectPathPlanner("DynamicPlanner")
-
+ps.selectPathProjector('Progressive',0.05)
#solve the problem :
r(q_init)
diff --git a/script/dynamic/flatGround_hyq_pathKino.py b/script/dynamic/flatGround_hyq_pathKino.py
index b7bb09f..4ddbe8b 100644
--- a/script/dynamic/flatGround_hyq_pathKino.py
+++ b/script/dynamic/flatGround_hyq_pathKino.py
@@ -70,6 +70,7 @@ ps.client.problem.selectPathValidation("RbprmPathValidation",0.05)
ps.selectSteeringMethod("RBPRMKinodynamic")
ps.selectDistance("KinodynamicDistance")
ps.selectPathPlanner("DynamicPlanner")
+ps.selectPathProjector('Progressive',0.05)
#solve the problem :
r(q_init)
diff --git a/script/tools/generate_contact_sequence.py b/script/tools/generate_contact_sequence.py
index 0e523c8..ef07620 100644
--- a/script/tools/generate_contact_sequence.py
+++ b/script/tools/generate_contact_sequence.py
@@ -5,7 +5,7 @@ from pinocchio.utils import *
import locomote
from locomote import WrenchCone,SOC6,ControlType,IntegratorType,ContactPatch, ContactPhaseHumanoid, ContactSequenceHumanoid
SPEED=0.5
-DURATION_n_CONTACTS = 0.3 # percentage of time allocated to the movement of the com without moving the contacts
+DURATION_n_CONTACTS = 0.2 # percentage of time allocated to the movement of the com without moving the contacts
global i_sphere
DISPLAY_CONTACTS = True
rleg_id = "RLEG_JOINT5"
--
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