Commit 440b4ee6 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

add export code in script

parent db5376c8
......@@ -170,8 +170,21 @@ sf2 = State(fullBody,q=q_goal,limbsIncontact=[lLegId,rLegId])
pid = fullBody.isDynamicallyReachableFromState(smid.sId,smid2.sId,True)
import disp_bezier
pp.dt = 0.00001
disp_bezier.showPath(r,pp,pid)
x = [0.776624, 0.219798, 0.846351]
moveSphere('s',r,x)
displayBezierConstraints(r)
path = "/local/dev_hpp/screenBlender/iros2018/polytopes/platform/path"
for i in range(1,4):
r.client.gui.writeNodeFile('path_'+str(int(pid[i]))+'_root',path+str(i-1)+'.obj')
r.client.gui.writeNodeFile('s',path+'_S.stl')
"""
com = fullBody.getCenterOfMass()
com[1] = 0
......
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