From 440b4ee63f810af62b734a99bcc427e8b96ae1b3 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Thu, 1 Mar 2018 14:52:03 +0100
Subject: [PATCH] add export code in script
---
.../dynamic/plateform_hrp2_interp_testTransition.py | 13 +++++++++++++
1 file changed, 13 insertions(+)
diff --git a/script/dynamic/plateform_hrp2_interp_testTransition.py b/script/dynamic/plateform_hrp2_interp_testTransition.py
index 6841059..9885a9f 100644
--- a/script/dynamic/plateform_hrp2_interp_testTransition.py
+++ b/script/dynamic/plateform_hrp2_interp_testTransition.py
@@ -170,8 +170,21 @@ sf2 = State(fullBody,q=q_goal,limbsIncontact=[lLegId,rLegId])
pid = fullBody.isDynamicallyReachableFromState(smid.sId,smid2.sId,True)
import disp_bezier
+pp.dt = 0.00001
disp_bezier.showPath(r,pp,pid)
+x = [0.776624, 0.219798, 0.846351]
+
+
+moveSphere('s',r,x)
+displayBezierConstraints(r)
+
+path = "/local/dev_hpp/screenBlender/iros2018/polytopes/platform/path"
+for i in range(1,4):
+ r.client.gui.writeNodeFile('path_'+str(int(pid[i]))+'_root',path+str(i-1)+'.obj')
+
+r.client.gui.writeNodeFile('s',path+'_S.stl')
+
"""
com = fullBody.getCenterOfMass()
com[1] = 0
--
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