From 145d20714651c6cde20df5c76a19422b68e2b0f5 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 7 Sep 2011 15:10:42 +0200
Subject: [PATCH] Working version, with posture, no head no arm and foot.
---
python/mocap/imit.py | 13 ++++++-------
1 file changed, 6 insertions(+), 7 deletions(-)
diff --git a/python/mocap/imit.py b/python/mocap/imit.py
index efd9991..31cb540 100644
--- a/python/mocap/imit.py
+++ b/python/mocap/imit.py
@@ -452,7 +452,7 @@ tasklh.opmodif = matrixToTuple(mrh)
#taskHead.gain.setConstant(500)
taskHead.feature.selec.value = '111000'
-taskrf.feature.selec.value = '111111'
+taskrf.feature.selec.value = '111'
mrf=eye(4)
mrf[0:3,3] = (0,0,-0.05)
taskrf.opmodif = matrixToTuple(mrf)
@@ -476,7 +476,7 @@ gCom.setConstant(100)
mp.forward()
inc()
-go()
+#go()
sigset = ( lambda s,v : s.__class__.value.__set__(s,v) )
#attime(200, lambda: mp.forward())
@@ -486,10 +486,9 @@ sigset = ( lambda s,v : s.__class__.value.__set__(s,v) )
#attime(40*mp.timeScale, lambda: contactRF.feature.keep() )
attime(40*mp.timeScale, lambda: sot.rmContact("RF"),"Remove RF contact" )
-attime(40*mp.timeScale, lambda: sot.push(taskrf.task.name), "Start to track RF mocap" )
+attime(40*mp.timeScale, lambda: sot.push(taskrf.task.name), "Start to track RF mocap" )
-rfFinal = eye(4); rfFinal[0:3,3] = (0.02,-0.12,0.105-0.05)
+rfFinal = eye(4); rfFinal[0:3,3] = (0.02,-0.12,0.055)
attime(1050*mp.timeScale,
- (lambda: sigset(taskrf.featureDes.position,matrixToTuple(rfFinal)), "RF to final position"),
- (mp.rmJointMap("Rfoot"),"Stop tracking RF mocap"))
-
+ ((lambda: sigset(taskrf.featureDes.position,matrixToTuple(rfFinal)), "RF to final position"),
+ (lambda: mp.rmJointMap("Rfoot"),"Stop tracking RF mocap")) )
--
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