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Jason Chemin
hpp-rbprm-corba
Commits
466ee04c
Commit
466ee04c
authored
Apr 03, 2018
by
Pierre Fernbach
Browse files
[contact sequence] add an option to ignore rotation of feet (for debug)
parent
cd454cff
Changes
1
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Inline
Side-by-side
script/tools/generate_contact_sequence.py
View file @
466ee04c
...
...
@@ -98,10 +98,11 @@ def generateContactSequence(fb,configs,beginId,endId,viewer=None, curves_initGue
MLF
=
SE3
.
Identity
()
MRF
.
translation
=
np
.
matrix
(
q_rl
[
0
:
3
])
MLF
.
translation
=
np
.
matrix
(
q_ll
[
0
:
3
])
rot_rl
=
Quaternion
(
q_rl
[
3
],
q_rl
[
4
],
q_rl
[
5
],
q_rl
[
6
])
rot_ll
=
Quaternion
(
q_ll
[
3
],
q_ll
[
4
],
q_ll
[
5
],
q_ll
[
6
])
MRF
.
rotation
=
rot_rl
.
matrix
()
MLF
.
rotation
=
rot_ll
.
matrix
()
if
not
FORCE_STRAIGHT_LINE
:
rot_rl
=
Quaternion
(
q_rl
[
3
],
q_rl
[
4
],
q_rl
[
5
],
q_rl
[
6
])
rot_ll
=
Quaternion
(
q_ll
[
3
],
q_ll
[
4
],
q_ll
[
5
],
q_ll
[
6
])
MRF
.
rotation
=
rot_rl
.
matrix
()
MLF
.
rotation
=
rot_ll
.
matrix
()
# apply the transform ankle -> center of contact
MRF
*=
MRsole_offset
...
...
@@ -319,10 +320,11 @@ def generateContactSequence(fb,configs,beginId,endId,viewer=None, curves_initGue
MLF
=
SE3
.
Identity
()
MRF
.
translation
=
np
.
matrix
(
q_rl
[
0
:
3
])
MLF
.
translation
=
np
.
matrix
(
q_ll
[
0
:
3
])
rot_rl
=
Quaternion
(
q_rl
[
3
],
q_rl
[
4
],
q_rl
[
5
],
q_rl
[
6
])
rot_ll
=
Quaternion
(
q_ll
[
3
],
q_ll
[
4
],
q_ll
[
5
],
q_ll
[
6
])
MRF
.
rotation
=
rot_rl
.
matrix
()
MLF
.
rotation
=
rot_ll
.
matrix
()
if
not
FORCE_STRAIGHT_LINE
:
rot_rl
=
Quaternion
(
q_rl
[
3
],
q_rl
[
4
],
q_rl
[
5
],
q_rl
[
6
])
rot_ll
=
Quaternion
(
q_ll
[
3
],
q_ll
[
4
],
q_ll
[
5
],
q_ll
[
6
])
MRF
.
rotation
=
rot_rl
.
matrix
()
MLF
.
rotation
=
rot_ll
.
matrix
()
# apply the transform ankle -> center of contact
MRF
*=
MRsole_offset
MLF
*=
MLsole_offset
...
...
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