Commit 4a112f94 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[script] update talos_circle to changes in rbprm

parent 88f4cbbb
......@@ -60,13 +60,14 @@ q_ref = fullBody.referenceConfig[::]+[0]*6
#q_ref = fullBody.referenceConfig_legsApart[::]+[0]*6
q_init = q_ref[::]
fullBody.setReferenceConfig(q_ref)
fullBody.usePosturalTaskContactCreation(True)
if abs(tp.q_goal[1]) <= abs(tp.q_goal[0]) :
fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
heuristicR = "fixedStep08"
heuristicL = "fixedStep08"
print "Use weight for straight walk"
fullBody.usePosturalTaskContactCreation(True)
else :
fullBody.setPostureWeights(fullBody.postureWeights_straff[::]+[0]*6)
print "Use weight for straff walk"
......@@ -142,7 +143,7 @@ else :
print "Generate contact plan ..."
tStart = time.time()
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 1, filterStates = True,quasiStatic=True)
configs = fullBody.interpolate(0.005,pathId=pId,robustnessTreshold = 3, filterStates = True,quasiStatic=True)
tInterpolateConfigs = time.time() - tStart
print "Done."
print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
......
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