Commit 6bd845a6 authored by t steve's avatar t steve
Browse files

parameters

parent b884ddd3
......@@ -74,8 +74,29 @@ fullBody.runLimbSampleAnalysis(larmId, "jointLimitsDistance", True)
#~ q_init = hyq_ref[:]; q_init[0:7] = tp.q_init[0:7];
#~ q_goal = hyq_ref[:]; q_goal[0:7] = tp.q_goal[0:7];
q_init = hyq_ref[:]; q_init[0:7] = tp.q_init[0:7]; q_init[2]=hyq_ref[2]+0.02
q_goal = hyq_ref[:]; q_goal[0:7] = tp.q_goal[0:7]; q_init[2]=hyq_ref[2]+0.02
q_init = hyq_ref[:]; q_init[0:7] = tp.q_init[0:7]; q_init[2]=hyq_ref[2]
q_goal = hyq_ref[:]; q_goal[0:7] = tp.q_goal[0:7]; q_goal[2]=hyq_ref[2]+0.02
q_init = [-2.0,
0.0,
0.6638277139631803,
1.0,
0.0,
0.0,
0.0,
0.14279812395541294,
0.934392553166556,
-0.9968239786882757,
-0.06521258938340457,
-0.8831796268418511,
1.150049183494211,
-0.06927610020154493,
0.9507443168724581,
-0.8739975339028809,
0.03995660287873871,
-0.9577096766517215,
0.9384602821326071]
# Randomly generating a contact configuration at q_init
#~ fullBody.setCurrentConfig (q_init)
......@@ -153,7 +174,7 @@ def genPlan(stepsize=0.06):
tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
global configs
start = time.clock()
configs = fullBody.interpolate(stepsize, 5, 5, True)
configs = fullBody.interpolate(stepsize, 5, 5, filterStates = True, testReachability=False, quasiStatic=False)
end = time.clock()
print "Contact plan generated in " + str(end-start) + "seconds"
......@@ -190,4 +211,4 @@ def e(step = 0.5):
print "Root path generated in " + str(tp.t) + " ms."
#~ d();e()
d(0.004);e(0.01)
d(0.04);e(0.01)
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