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Jason Chemin
hpp-rbprm-corba
Commits
43e6b6bf
Commit
43e6b6bf
authored
Jan 29, 2019
by
Pierre Fernbach
Browse files
[demo] minor changes in talos_flatGround
parent
e603228a
Changes
2
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Inline
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script/scenarios/demos/talos_flatGround.py
View file @
43e6b6bf
...
...
@@ -32,9 +32,9 @@ tStart = time.time()
# generate databases :
nbSamples
=
50000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep
1
"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
)
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep
08
"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
)
fullBody
.
runLimbSampleAnalysis
(
fullBody
.
rLegId
,
"ReferenceConfiguration"
,
True
)
fullBody
.
addLimb
(
fullBody
.
lLegId
,
fullBody
.
lleg
,
fullBody
.
lfoot
,
fullBody
.
lLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
lLegx
,
fullBody
.
lLegy
,
nbSamples
,
"fixedStep
1
"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
lLegKinematicConstraints
)
fullBody
.
addLimb
(
fullBody
.
lLegId
,
fullBody
.
lleg
,
fullBody
.
lfoot
,
fullBody
.
lLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
lLegx
,
fullBody
.
lLegy
,
nbSamples
,
"fixedStep
08
"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
lLegKinematicConstraints
)
fullBody
.
runLimbSampleAnalysis
(
fullBody
.
lLegId
,
"ReferenceConfiguration"
,
True
)
...
...
@@ -84,9 +84,10 @@ tStart = time.time()
configs
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
2
,
filterStates
=
True
)
tInterpolateConfigs
=
time
.
time
()
-
tStart
print
"Done."
print
"Contact plan generated in : "
+
str
(
tInterpolateConfigs
)
+
" s"
print
"number of configs :"
,
len
(
configs
)
raw_input
(
"Press Enter to display the contact sequence ..."
)
displayContactSequence
(
v
,
configs
)
#
raw_input("Press Enter to display the contact sequence ...")
#
displayContactSequence(v,configs)
script/scenarios/demos/talos_flatGround_path.py
View file @
43e6b6bf
from
hpp.corbaserver.rbprm.talos_abstract
import
Robot
from
hpp.gepetto
import
Viewer
from
hpp.corbaserver
import
Client
from
hpp.corbaserver
import
ProblemSolver
import
time
...
...
@@ -84,9 +83,10 @@ print "Guide planning time : ",t
# display solution :
from
hpp.gepetto
import
PathPlayer
pp
=
PathPlayer
(
v
)
pp
.
dt
=
0.
03
pp
.
displayVelocityPath
(
0
)
pp
.
dt
=
0.
1
#
pp.displayVelocityPath(0)
v
.
client
.
gui
.
setVisibility
(
"path_0_root"
,
"ALWAYS_ON_TOP"
)
pp
.
dt
=
0.01
#pp(0)
# move the robot out of the view before computing the contacts
...
...
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