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Jason Chemin
hpp-rbprm-corba
Commits
fec07007
Commit
fec07007
authored
Jan 18, 2019
by
Pierre Fernbach
Browse files
[script] add kinematic constraints path in talos script
parent
86fe01d2
Changes
2
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Inline
Side-by-side
script/scenarios/demos/talos_flatGround.py
View file @
fec07007
...
...
@@ -31,10 +31,10 @@ print "Generate limb DB ..."
tStart
=
time
.
time
()
# generate databases :
nbSamples
=
1
0000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep
06
"
,
0.01
)
nbSamples
=
5
0000
fullBody
.
addLimb
(
fullBody
.
rLegId
,
fullBody
.
rleg
,
fullBody
.
rfoot
,
fullBody
.
rLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
rLegx
,
fullBody
.
rLegy
,
nbSamples
,
"fixedStep
1
"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
rLegKinematicConstraints
)
fullBody
.
runLimbSampleAnalysis
(
fullBody
.
rLegId
,
"ReferenceConfiguration"
,
True
)
fullBody
.
addLimb
(
fullBody
.
lLegId
,
fullBody
.
lleg
,
fullBody
.
lfoot
,
fullBody
.
lLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
lLegx
,
fullBody
.
lLegy
,
nbSamples
,
"fixedStep
06
"
,
0.01
)
fullBody
.
addLimb
(
fullBody
.
lLegId
,
fullBody
.
lleg
,
fullBody
.
lfoot
,
fullBody
.
lLegOffset
,
fullBody
.
rLegNormal
,
fullBody
.
lLegx
,
fullBody
.
lLegy
,
nbSamples
,
"fixedStep
1
"
,
0.01
,
kinematicConstraintsPath
=
fullBody
.
lLegKinematicConstraints
)
fullBody
.
runLimbSampleAnalysis
(
fullBody
.
lLegId
,
"ReferenceConfiguration"
,
True
)
...
...
@@ -81,7 +81,7 @@ fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lLegId])
print
"Generate contact plan ..."
tStart
=
time
.
time
()
configs
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
2
,
filterStates
=
True
,
testReachability
=
False
)
configs
=
fullBody
.
interpolate
(
0.01
,
pathId
=
pId
,
robustnessTreshold
=
2
,
filterStates
=
True
)
tInterpolateConfigs
=
time
.
time
()
-
tStart
print
"Done."
print
"number of configs :"
,
len
(
configs
)
...
...
script/scenarios/demos/talos_flatGround_path.py
View file @
fec07007
...
...
@@ -87,7 +87,7 @@ pp = PathPlayer (v)
pp
.
dt
=
0.03
pp
.
displayVelocityPath
(
0
)
v
.
client
.
gui
.
setVisibility
(
"path_0_root"
,
"ALWAYS_ON_TOP"
)
pp
(
0
)
#
pp(0)
# move the robot out of the view before computing the contacts
q_far
=
q_init
[::]
...
...
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