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Guilhem Saurel
hpp-rbprm-corba
Commits
b606a2c5
Commit
b606a2c5
authored
Apr 28, 2019
by
Pierre Fernbach
Browse files
[script] update talos_circle to use of usePosturalTaskContactCreation
parent
14fe121f
Changes
1
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script/scenarios/memmo/talos_circle.py
View file @
b606a2c5
...
...
@@ -60,7 +60,7 @@ 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
)
...
...
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