From 931696e3bd37dcbfd21a0cf5bdc759bffcea19c6 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 7 Sep 2011 17:04:28 +0200
Subject: [PATCH] The best motion from now.
---
python/mocap/imit.py | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/python/mocap/imit.py b/python/mocap/imit.py
index d91cda9..f6d4a10 100644
--- a/python/mocap/imit.py
+++ b/python/mocap/imit.py
@@ -461,13 +461,13 @@ featureCom.selec.value = "11"
#gCom.setConstant( 500.0 )
taskrh.feature.selec.value = '111'
-#taskrh.gain.setConstant(500)
+taskrh.gain.setConstant(100)
mrh=eye(4)
mrh[0:3,3] = (0,0,-0.08)
taskrh.opmodif = matrixToTuple(mrh)
tasklh.feature.selec.value = '111'
-#tasklh.gain.setConstant(500)
+tasklh.gain.setConstant(100)
tasklh.opmodif = matrixToTuple(mrh)
#taskHead.gain.setConstant(500)
@@ -479,18 +479,18 @@ mrf[0:3,3] = (0,0,-0.05)
taskrf.opmodif = matrixToTuple(mrf)
sot.push('taskCom')
-#sot.push(taskrh.task.name)
+sot.push(taskrh.task.name)
#sot.push(tasklh.task.name)
#sot.push(taskHead.task.name)
#sot.push(taskWaist.task.name)
-#mp.addJointMap("Rhand",taskrh)
-#mp.addJointMap("Lhand",tasklh)
+mp.addJointMap("Rhand",taskrh)
+mp.addJointMap("Lhand",tasklh)
mp.addJointMap("head",taskHead)
mp.addJointMap("Rfoot",taskrf)
mp.posture = sot.posture
plug(robot.state,sot.position)
-sot.breakFactor.value = 20
+sot.breakFactor.value = 10
featureComDes.errorIN.value = ( 0.01, 0.09, 0.8077 )
gCom.setConstant(100)
--
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