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Jason Chemin
hpp-rbprm-corba
Commits
6bd845a6
Commit
6bd845a6
authored
Jun 28, 2018
by
t steve
Browse files
parameters
parent
b884ddd3
Changes
1
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Inline
Side-by-side
script/scenarios/demos/darpa_hyq.py
View file @
6bd845a6
...
...
@@ -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
,
Tru
e
)
configs
=
fullBody
.
interpolate
(
stepsize
,
5
,
5
,
filterStates
=
True
,
testReachability
=
False
,
quasiStatic
=
Fals
e
)
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.
0
04
);
e
(
0.01
)
d
(
0.04
);
e
(
0.01
)
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