[scripts] small changes in tools scripts

script/dynamic/export_blender.py

@@ -45,7 +45,7 @@ r.client.gui.captureTransformOnRefresh(False)
 
 
 nodes = ['world/pinocchio']
-gui.setCaptureTransform("/local/dev_hpp/screenBlender/iros2018/yaml/darpa_wholeBody.yaml",nodes)
+gui.setCaptureTransform("/local/dev_hpp/screenBlender/locomote/yaml/stairs10_NO_effectorRRT.yaml",nodes)
 #gui.captureTransform()
 gui.captureTransformOnRefresh(True)
 gui.captureTransformOnRefresh(False)
@@ -63,6 +63,8 @@ r.client.gui.captureTransformOnRefresh(False)
 
 r.client.gui.writeBlenderScript("/local/dev_hpp/screenBlender/talos/models/pyrene.py", ['talos'])
 
+r.client.gui.writeBlenderScript("/local/dev_hpp/screenBlender/talos/stairs.py", ['world'])
+
 nodes = ["hrp2_14","Vec_Acceleration","Vec_Velocity"]
 r.client.gui.setCaptureTransform("/local/dev_hpp/screenBlender/iros2017/yaml/slope_interp_3.yaml",nodes)
 r.client.gui.captureTransformOnRefresh(True)

script/tools/cut_contact_sequence.py

@@ -9,7 +9,7 @@ import planning.generate_muscod_problem as mp
 import muscodSSH as ssh
 from planning.config import *
 
-statesPerStep=5 # number of double support configs from the planning per call to muscod
+statesPerStep=4 # number of double support configs from the planning per call to muscod
 stepSize=statesPerStep*2 - 1 # contact_sequence contain double support AND simple support states
 
 def solveMuscodProblem(configsFull,cs):

script/tools/disp_bezier.py

@@ -6,7 +6,7 @@ from numpy.linalg import norm
 
 
 
-def displayBezierCurve(r,curve,step=0.001,color=[0.85, 0.75, 0.15, 1.0],name=None):
+def displayBezierCurve(r,curve,step=0.001,color=[0.85, 0.75, 0.15, 1.0],name=None,offset = None):
     if name==None:
         name="bezier_curve"
         list = r.client.gui.getNodeList()
@@ -17,7 +17,12 @@ def displayBezierCurve(r,curve,step=0.001,color=[0.85, 0.75, 0.15, 1.0],name=Non
     current=0
     path=[]
     while current<= curve.max():
-        path+=[curve(current).transpose().tolist()[0]]
+        p = curve(current).transpose().tolist()[0]
+        if offset:
+            assert(len(offset) == len(p))
+            for i in range(len(p)):
+                p[i] += offset[i]
+        path+=[p]
         current +=step
     r.client.gui.addCurve(name,path,color)
     r.client.gui.addToGroup(name,r.sceneName)