Commit 171fe0ce authored by Steve Tonneau's avatar Steve Tonneau
Browse files

optimization for ground_crouch

parent e3ce682a
......@@ -118,8 +118,6 @@ def act(i, numOptim = 0, use_window = 0, friction = 0.5, optim_effectors = True,
return step(fullBody, configs, i, numOptim, pp, limbsCOMConstraints, friction, optim_effectors = optim_effectors, time_scale = time_scale, useCOMConstraints = False, use_window = use_window,
verbose = verbose, draw = draw, trackedEffectors = trackedEffectors)
def play(frame_rate = 1./24.):
play_traj(fullBody,pp,frame_rate)
#~ for i in range(6,25):
#~ act(i, 60, optim_effectors = True)
......@@ -176,6 +174,18 @@ def contactPlan():
r(configs[i]);
time.sleep(0.5)
def interpolate():
tp.cl.problem.selectProblem("default")
r.client.gui.setVisibility("hyq", "ON")
tp.r.client.gui.setVisibility("toto", "OFF")
tp.r.client.gui.setVisibility("hyq_trunk", "OFF")
for i in range(7,20):
act(i,1,optim_effectors=True)
def play(frame_rate = 1./24.):
play_traj(fullBody,pp,frame_rate)
def a():
print "initial configuration"
......@@ -196,6 +206,14 @@ def d():
def e():
print "displaying contact plan"
contactPlan()
def f():
print "computing feasible com trajectory"
interpolate()
def g():
print "playing feasible trajectory"
play()
print "Root path generated in " + str(tp.t) + " ms."
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