Commit 462419ee authored by stevet's avatar stevet
Browse files

removed extra config space

parent ae99978a
......@@ -18,8 +18,8 @@ from hpp.corbaserver import Client
# This time we load the full body model of HyQ
fullBody = Robot ()
fullBody.setJointBounds ("root_joint", [-2,5, -1, 1, 0.3, 4])
fullBody.client.robot.setDimensionExtraConfigSpace(6)
fullBody.client.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,0,0,0,0,0,0])
#~ fullBody.client.robot.setDimensionExtraConfigSpace(6)
#~ fullBody.client.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,0,0,0,0,0,0])
# Setting a number of sample configurations used
nbSamples = 10000
......@@ -43,10 +43,8 @@ fullBody.addLimb(fullBody.lArmId,fullBody.larm,fullBody.lhand,fullBody.offset,fu
#~ fullBody.runLimbSampleAnalysis(rarmId, "jointLimitsDistance", True)
#~ fullBody.runLimbSampleAnalysis(larmId, "jointLimitsDistance", True)
q_init=fullBody.referenceConfig[::] + [0]*6; q_init[0:7] = tp.q_init[0:7];
#q_init[2]=fullBody.referenceConfig[2]
q_goal = fullBody.referenceConfig[::]+ [0]*6; q_goal[0:7] = tp.q_goal[0:7];
#q_goal[2]=fullBody.referenceConfig[2]
q_init=fullBody.referenceConfig[::] ; q_init[0:7] = tp.q_init[0:7];
q_goal = fullBody.referenceConfig[::]; q_goal[0:7] = tp.q_goal[0:7];
q_init = fullBody.generateContacts(q_init, [0,0,1])
......
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