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Unverified Commit 85d46de9 authored by stonneau's avatar stonneau Committed by GitHub
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Merge pull request #36 from pFernbach/topic/kinodynamic_orientation 

topic/kindoynamic_orientation
parents bb5794ad c93ac8ff
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script/scenarios/demos/hyq_slalom_debris_path.py
View file @ 85d46de9
......@@ -39,7 +39,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax)
ps.setParameter("DynamicPlanner/sizeFootX",0.01)
ps.setParameter("DynamicPlanner/sizeFootY",0.01)
ps.setParameter("DynamicPlanner/friction",0.5)
ps.setParameter("Kinodynamic/forceOrientation",True)
ps.setParameter("Kinodynamic/forceYawOrientation",True)
# sample only configuration with null velocity and acceleration :
ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",50)
......
script/scenarios/demos/talos_navBauzil_hard_path.py
View file @ 85d46de9
......@@ -37,7 +37,7 @@ ps = ProblemSolver( rbprmBuilder )
ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",True)
ps.setParameter("Kinodynamic/forceYawOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu)
......
script/scenarios/demos/talos_navBauzil_path.py
View file @ 85d46de9
......@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",True)
ps.setParameter("Kinodynamic/forceYawOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu)
......
script/scenarios/demos/talos_stairs10_path.py
View file @ 85d46de9
......@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",False)
ps.setParameter("Kinodynamic/forceYawOrientation",False)
ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu)
......
script/scenarios/memmo/talos_circle_oriented_path.py
View file @ 85d46de9
......@@ -40,7 +40,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax)
ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",0.5)
ps.setParameter("Kinodynamic/forceOrientation",True)
ps.setParameter("Kinodynamic/forceYawOrientation",True)
# sample only configuration with null velocity and acceleration :
ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
......
script/scenarios/memmo/talos_stairs10_random_path.py
View file @ 85d46de9
......@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",True)
ps.setParameter("Kinodynamic/forceYawOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu)
......
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