Commit 3ff8652c authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[scripts] small changes in tools scripts

parent 77b7bee3
......@@ -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)
......
......@@ -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):
......
......@@ -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)
......
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