Commit 04ae09f1 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[tools] REVERT sampletransition : try to project init state COM to be more robust

parent 9962778c
......@@ -80,10 +80,6 @@ def sampleRandomStateFlatFloor(fullBody,limbsInContact,z):
s0, success = StateHelper.addNewContact(s0,limb,p,n,lockOtherJoints=True)
if not success:
break
if success :
sProj = projectMidFeet(fullBody,s0)
if sProj is not None:
s0 = sProj
if success :
# check stability
success = fullBody.isStateBalanced(s0.sId,5)
......@@ -111,10 +107,6 @@ def sampleRandomStateStairs(fullBody,limbsInContact,zInterval,movingLimb,z_movin
s0, success = StateHelper.addNewContact(s0,limb,p,n,lockOtherJoints=True)
if not success:
break
if success :
sProj = projectMidFeet(fullBody,s0)
if sProj is not None:
s0 = sProj
if success :
# check stability
success = fullBody.isStateBalanced(s0.sId,5)
......
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