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Jason Chemin
hpp-rbprm-corba
Commits
e79b4948
Commit
e79b4948
authored
Feb 01, 2019
by
Pierre Fernbach
Browse files
[demos] update darpa_hyq to changes in robot-data
parent
8d46601b
Changes
1
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Inline
Side-by-side
script/scenarios/demos/darpa_hyq.py
View file @
e79b4948
...
...
@@ -33,8 +33,8 @@ def addLimbDb(limbId, heuristicName, loadValues = True, disableEffectorCollision
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
offset
,
fullBody
.
normal
,
fullBody
.
legx
,
fullBody
.
legy
,
nbSamples
,
"random"
,
0.1
,
cType
)
fullBody
.
addLimb
(
fullBody
.
lLegId
,
fullBody
.
lleg
,
fullBody
.
lfoot
,
fullBody
.
offset
,
fullBody
.
normal
,
fullBody
.
legx
,
fullBody
.
legy
,
nbSamples
,
"random"
,
0.05
,
cType
)
fullBody
.
addLimb
(
fullBody
.
rArmId
,
fullBody
.
rarm
,
fullBody
.
r
H
and
,
fullBody
.
offset
,
fullBody
.
normal
,
fullBody
.
legx
,
fullBody
.
legy
,
nbSamples
,
"random"
,
0.05
,
cType
)
fullBody
.
addLimb
(
fullBody
.
lArmId
,
fullBody
.
larm
,
fullBody
.
l
H
and
,
fullBody
.
offset
,
fullBody
.
normal
,
fullBody
.
legx
,
fullBody
.
legy
,
nbSamples
,
"random"
,
0.05
,
cType
)
fullBody
.
addLimb
(
fullBody
.
rArmId
,
fullBody
.
rarm
,
fullBody
.
r
h
and
,
fullBody
.
offset
,
fullBody
.
normal
,
fullBody
.
legx
,
fullBody
.
legy
,
nbSamples
,
"random"
,
0.05
,
cType
)
fullBody
.
addLimb
(
fullBody
.
lArmId
,
fullBody
.
larm
,
fullBody
.
l
h
and
,
fullBody
.
offset
,
fullBody
.
normal
,
fullBody
.
legx
,
fullBody
.
legy
,
nbSamples
,
"random"
,
0.05
,
cType
)
#~ fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
#~ fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
...
...
@@ -65,10 +65,12 @@ q_init=fullBody.referenceConfig[::]; q_init[0:7] = tp.q_init[0:7]; q_init[2]=ful
q_goal
=
fullBody
.
referenceConfig
[::];
q_goal
[
0
:
7
]
=
tp
.
q_goal
[
0
:
7
];
q_goal
[
2
]
=
fullBody
.
referenceConfig
[
2
]
+
0.02
q_init
=
fullBody
.
generateContacts
(
q_init
,
[
0
,
0
,
1
])
q_goal
=
fullBody
.
generateContacts
(
q_goal
,
[
0
,
0
,
1
])
# specifying the full body configurations as start and goal state of the problem
fullBody
.
setStartState
(
q_init
,[
fullBody
.
rLegId
,
fullBody
.
l
LegId
,
fullBody
.
r
ArmId
,
fullBody
.
lArmId
])
fullBody
.
setEndState
(
q_goal
,[
fullBody
.
rLegId
,
fullBody
.
l
LegId
,
fullBody
.
r
ArmId
,
fullBody
.
lArmId
])
fullBody
.
setStartState
(
q_init
,[
fullBody
.
rLegId
,
fullBody
.
lArmId
,
fullBody
.
l
LegId
,
fullBody
.
r
ArmId
])
fullBody
.
setEndState
(
q_goal
,[
fullBody
.
rLegId
,
fullBody
.
lArmId
,
fullBody
.
l
LegId
,
fullBody
.
r
ArmId
])
r
(
q_init
)
...
...
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