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Commit dc7e23be authored by Steve Tonneau's avatar Steve Tonneau
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generated sates for justin

parent 73dcb38a
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data/stair_bauzil.blend
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out/stair_bauzil/fourth.csv 0 → 100644
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out/stair_bauzil/fourthchoice 0 → 100644
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\ No newline at end of file
out/stair_bauzil/secondchoice 0 → 100644
View file @ dc7e23be
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\ No newline at end of file
out/stair_bauzil/secondchoice.csv 0 → 100644
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out/stair_bauzil/thirdchoice 0 → 100644
View file @ dc7e23be
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out/stair_bauzil/thirdchoice.csv 0 → 100644
View file @ dc7e23be
19
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0.664561 -0.684564 0.404993 -0 0 1 0.492337 -0.704321 0.940373 0.36594 -0.67544 0.759638 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.94262 -0.243767 -0.509331 -1.17655 -0.122486 -0.1257 0 -0.365118 0.155541 -1.66088 1.35524 0.0256823 -0.0437323 0.101178 -0.391525 -0.535231 0.768958 -0.551317 0.343682
0.907516 -1.1182 1.12943 -0.453991 6.07068e-08 0.891006 0.492337 -0.704321 0.940373 0.36594 -0.67544 0.759638 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.94262 -0.243767 -0.509331 -1.17655 -0.122486 -0.1257 0 -0.365118 0.155541 -1.66088 1.35524 0.0256823 -0.0437323 0.101178 -0.391525 -0.535231 0.768958 -0.551317 0.343682
3 0.637853 -0.999304 0.404999 -0 0 1 0.588396 -0.70298 0.98577 0.457426 -0.6693 0.799548 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.526796 -0.268969 -0.564233 -1.5139 -0.354075 -0.122624 0 -0.394828 0.0521087 -1.50881 1.44258 -0.210648 0.0638349 -0.442295 -0.254477 -1.38696 1.11086 -0.0146317 0.371381
0.664561 -0.684564 0.404993 -0 0 1 0.588396 -0.70298 0.98577 0.457426 -0.6693 0.799548 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.526796 -0.268969 -0.564233 -1.5139 -0.354075 -0.122624 0 -0.394828 0.0521087 -1.50881 1.44258 -0.210648 0.0638349 -0.442295 -0.254477 -1.38696 1.11086 -0.0146317 0.371381
0.907516 -1.1182 1.12943 -0.453991 6.07068e-08 0.891006 0.588396 -0.70298 0.98577 0.457426 -0.6693 0.799548 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.526796 -0.268969 -0.564233 -1.5139 -0.354075 -0.122624 0 -0.394828 0.0521087 -1.50881 1.44258 -0.210648 0.0638349 -0.442295 -0.254477 -1.38696 1.11086 -0.0146317 0.371381
3 0.637853 -0.999304 0.404999 -0 0 1 0.667186 -0.699109 1.01733 0.548911 -0.66316 0.839458 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.565062 -0.314892 -0.610046 -1.45624 -0.376495 -0.100626 0 -0.418746 -0.0321187 -1.29319 1.4173 -0.400746 0.15139 -0.454715 -0.294194 -1.16235 1.03642 -0.16816 0.412859
0.664561 -0.684564 0.404993 -0 0 1 0.667186 -0.699109 1.01733 0.548911 -0.66316 0.839458 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.565062 -0.314892 -0.610046 -1.45624 -0.376495 -0.100626 0 -0.418746 -0.0321187 -1.29319 1.4173 -0.400746 0.15139 -0.454715 -0.294194 -1.16235 1.03642 -0.16816 0.412859
0.998551 -1.13473 1.17582 -0.453991 1.61885e-07 0.891006 0.667186 -0.699109 1.01733 0.548911 -0.66316 0.839458 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.565062 -0.314892 -0.610046 -1.45624 -0.376495 -0.100626 0 -0.418746 -0.0321187 -1.29319 1.4173 -0.400746 0.15139 -0.454715 -0.294194 -1.16235 1.03642 -0.16816 0.412859
3 0.637853 -0.999304 0.404999 -0 0 1 0.755775 -0.690677 1.06395 0.640396 -0.65702 0.879367 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.118888 -0.359481 -0.666771 -1.62496 -0.664852 -0.2665 0 -0.244426 -0.0399051 -1.78557 1.56805 -0.0751721 0.109773 -0.464969 -0.326256 -0.878036 0.815009 -0.234196 0.446374
0.910043 -0.658551 0.554986 0 0 1 0.755775 -0.690677 1.06395 0.640396 -0.65702 0.879367 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.118888 -0.359481 -0.666771 -1.62496 -0.664852 -0.2665 0 -0.244426 -0.0399051 -1.78557 1.56805 -0.0751721 0.109773 -0.464969 -0.326256 -0.878036 0.815009 -0.234196 0.446374
0.998551 -1.13473 1.17582 -0.453991 1.61885e-07 0.891006 0.755775 -0.690677 1.06395 0.640396 -0.65702 0.879367 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.118888 -0.359481 -0.666771 -1.62496 -0.664852 -0.2665 0 -0.244426 -0.0399051 -1.78557 1.56805 -0.0751721 0.109773 -0.464969 -0.326256 -0.878036 0.815009 -0.234196 0.446374
3 0.765659 -0.83214 0.405 -0 0 1 0.842231 -0.672964 1.09606 0.731881 -0.65088 0.919277 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.402358 -0.516066 -0.576049 -1.63351 -1.05255 -0.70347 0 -0.261617 -0.0967104 -1.592 1.63863 -0.340489 0.16911 0.106752 -0.213567 -0.822058 0.987766 -0.468585 0.172575
0.910043 -0.658551 0.554986 0 0 1 0.842231 -0.672964 1.09606 0.731881 -0.65088 0.919277 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.402358 -0.516066 -0.576049 -1.63351 -1.05255 -0.70347 0 -0.261617 -0.0967104 -1.592 1.63863 -0.340489 0.16911 0.106752 -0.213567 -0.822058 0.987766 -0.468585 0.172575
0.998551 -1.13473 1.17582 -0.453991 1.61885e-07 0.891006 0.842231 -0.672964 1.09606 0.731881 -0.65088 0.919277 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.402358 -0.516066 -0.576049 -1.63351 -1.05255 -0.70347 0 -0.261617 -0.0967104 -1.592 1.63863 -0.340489 0.16911 0.106752 -0.213567 -0.822058 0.987766 -0.468585 0.172575
3 0.765659 -0.83214 0.405 -0 0 1 0.92697 -0.668295 1.12772 0.823366 -0.644741 0.959186 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.295373 -0.573486 -0.407457 -1.59301 -0.615546 -0.240606 0 -0.275331 -0.14158 -1.33792 1.59804 -0.555609 0.216 0.115183 -0.187048 -0.479511 0.630347 -0.452036 0.1448
0.910043 -0.658551 0.554986 0 0 1 0.92697 -0.668295 1.12772 0.823366 -0.644741 0.959186 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.295373 -0.573486 -0.407457 -1.59301 -0.615546 -0.240606 0 -0.275331 -0.14158 -1.33792 1.59804 -0.555609 0.216 0.115183 -0.187048 -0.479511 0.630347 -0.452036 0.1448
1.24748 -1.11057 1.30266 -0.453991 6.07068e-08 0.891006 0.92697 -0.668295 1.12772 0.823366 -0.644741 0.959186 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.295373 -0.573486 -0.407457 -1.59301 -0.615546 -0.240606 0 -0.275331 -0.14158 -1.33792 1.59804 -0.555609 0.216 0.115183 -0.187048 -0.479511 0.630347 -0.452036 0.1448
3 1.05631 -0.968822 0.554992 -0 0 1 1.01724 -0.676039 1.17464 0.914851 -0.638601 0.999096 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.213182 -0.618341 -0.520319 -1.72988 -0.826744 -0.533123 0 -0.286502 -0.177697 -1.04913 1.44606 -0.694198 0.253763 -0.756203 0.0555354 -1.24293 0.920105 0.103657 0.150014
0.910043 -0.658551 0.554986 0 0 1 1.01724 -0.676039 1.17464 0.914851 -0.638601 0.999096 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.213182 -0.618341 -0.520319 -1.72988 -0.826744 -0.533123 0 -0.286502 -0.177697 -1.04913 1.44606 -0.694198 0.253763 -0.756203 0.0555354 -1.24293 0.920105 0.103657 0.150014
1.24748 -1.11057 1.30266 -0.453991 6.07068e-08 0.891006 1.01724 -0.676039 1.17464 0.914851 -0.638601 0.999096 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.213182 -0.618341 -0.520319 -1.72988 -0.826744 -0.533123 0 -0.286502 -0.177697 -1.04913 1.44606 -0.694198 0.253763 -0.756203 0.0555354 -1.24293 0.920105 0.103657 0.150014
3 1.05631 -0.968822 0.554992 -0 0 1 1.0986 -0.671366 1.21041 1.00634 -0.632461 1.03901 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.726859 -0.763927 -0.454023 -1.7059 -1.08388 -1.06415 0 -0.380202 -0.112243 -0.968325 1.23616 -0.552714 0.217688 -0.78179 -0.0593941 -1.00669 0.748499 0.0389779 0.267755
1.01324 -0.650205 0.555011 -0 0 1 1.0986 -0.671366 1.21041 1.00634 -0.632461 1.03901 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.726859 -0.763927 -0.454023 -1.7059 -1.08388 -1.06415 0 -0.380202 -0.112243 -0.968325 1.23616 -0.552714 0.217688 -0.78179 -0.0593941 -1.00669 0.748499 0.0389779 0.267755
1.24748 -1.11057 1.30266 -0.453991 6.07068e-08 0.891006 1.0986 -0.671366 1.21041 1.00634 -0.632461 1.03901 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.726859 -0.763927 -0.454023 -1.7059 -1.08388 -1.06415 0 -0.380202 -0.112243 -0.968325 1.23616 -0.552714 0.217688 -0.78179 -0.0593941 -1.00669 0.748499 0.0389779 0.267755
3 1.05631 -0.968822 0.554992 -0 0 1 1.0986 -0.671366 1.21041 1.00634 -0.632461 1.03901 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.277604 -0.628516 -0.43391 -1.58875 -0.671617 -0.228466 0 -0.380202 -0.112243 -0.968325 1.23616 -0.552714 0.217688 -0.78179 -0.0593941 -1.00669 0.748499 0.0389779 0.267755
1.01324 -0.650205 0.555011 -0 0 1 1.0986 -0.671366 1.21041 1.00634 -0.632461 1.03901 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.277604 -0.628516 -0.43391 -1.58875 -0.671617 -0.228466 0 -0.380202 -0.112243 -0.968325 1.23616 -0.552714 0.217688 -0.78179 -0.0593941 -1.00669 0.748499 0.0389779 0.267755
1.42535 -1.11181 1.39328 -0.453991 6.07068e-08 0.891006 1.0986 -0.671366 1.21041 1.00634 -0.632461 1.03901 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.277604 -0.628516 -0.43391 -1.58875 -0.671617 -0.228466 0 -0.380202 -0.112243 -0.968325 1.23616 -0.552714 0.217688 -0.78179 -0.0593941 -1.00669 0.748499 0.0389779 0.267755
3 1.32317 -0.996337 0.704992 -0 0 1 1.19784 -0.667599 1.25462 1.09782 -0.626321 1.07892 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.264611 -0.676294 -0.562923 -1.72366 -0.900811 -0.541156 0 -0.394175 -0.15936 -0.654507 0.931491 -0.563759 0.266797 -0.746427 0.0987676 -1.47256 0.944638 0.307994 0.105705
1.01324 -0.650205 0.555011 -0 0 1 1.19784 -0.667599 1.25462 1.09782 -0.626321 1.07892 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.264611 -0.676294 -0.562923 -1.72366 -0.900811 -0.541156 0 -0.394175 -0.15936 -0.654507 0.931491 -0.563759 0.266797 -0.746427 0.0987676 -1.47256 0.944638 0.307994 0.105705
1.42535 -1.11181 1.39328 -0.453991 6.07068e-08 0.891006 1.19784 -0.667599 1.25462 1.09782 -0.626321 1.07892 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.264611 -0.676294 -0.562923 -1.72366 -0.900811 -0.541156 0 -0.394175 -0.15936 -0.654507 0.931491 -0.563759 0.266797 -0.746427 0.0987676 -1.47256 0.944638 0.307994 0.105705
3 1.32317 -0.996337 0.704992 -0 0 1 1.30037 -0.668389 1.30525 1.18931 -0.620181 1.11882 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.848567 -0.861836 -0.489451 -1.6978 -1.20788 -1.14355 0 -0.43349 -0.178523 -1.41897 1.31248 -0.177744 0.296109 -0.77765 -0.0412698 -1.30562 0.928033 0.15856 0.249172
1.3616 -0.722262 0.704999 -0 0 1 1.30037 -0.668389 1.30525 1.18931 -0.620181 1.11882 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.848567 -0.861836 -0.489451 -1.6978 -1.20788 -1.14355 0 -0.43349 -0.178523 -1.41897 1.31248 -0.177744 0.296109 -0.77765 -0.0412698 -1.30562 0.928033 0.15856 0.249172
1.42535 -1.11181 1.39328 -0.453991 6.07068e-08 0.891006 1.30037 -0.668389 1.30525 1.18931 -0.620181 1.11882 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.848567 -0.861836 -0.489451 -1.6978 -1.20788 -1.14355 0 -0.43349 -0.178523 -1.41897 1.31248 -0.177744 0.296109 -0.77765 -0.0412698 -1.30562 0.928033 0.15856 0.249172
3 1.32317 -0.996337 0.704992 -0 0 1 1.30037 -0.668389 1.30525 1.18931 -0.620181 1.11882 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.696519 -0.528759 -0.526967 -1.35198 -0.488747 -0.0054159 0 -0.43349 -0.178523 -1.41897 1.31248 -0.177744 0.296109 -0.77765 -0.0412698 -1.30562 0.928033 0.15856 0.249172
1.3616 -0.722262 0.704999 -0 0 1 1.30037 -0.668389 1.30525 1.18931 -0.620181 1.11882 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.696519 -0.528759 -0.526967 -1.35198 -0.488747 -0.0054159 0 -0.43349 -0.178523 -1.41897 1.31248 -0.177744 0.296109 -0.77765 -0.0412698 -1.30562 0.928033 0.15856 0.249172
1.65677 -1.12964 1.5112 -0.453991 1.61885e-07 0.891006 1.30037 -0.668389 1.30525 1.18931 -0.620181 1.11882 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.696519 -0.528759 -0.526967 -1.35198 -0.488747 -0.0054159 0 -0.43349 -0.178523 -1.41897 1.31248 -0.177744 0.296109 -0.77765 -0.0412698 -1.30562 0.928033 0.15856 0.249172
3 1.39903 -0.980318 0.704993 -0 0 1 1.30037 -0.668389 1.30525 1.18931 -0.620181 1.11882 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.696519 -0.528759 -0.526967 -1.35198 -0.488747 -0.0054159 0 -0.43349 -0.178523 -1.41897 1.31248 -0.177744 0.296109 -0.745946 0.100798 -1.33084 0.810089 0.300784 0.103627
1.3616 -0.722262 0.704999 -0 0 1 1.30037 -0.668389 1.30525 1.18931 -0.620181 1.11882 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.696519 -0.528759 -0.526967 -1.35198 -0.488747 -0.0054159 0 -0.43349 -0.178523 -1.41897 1.31248 -0.177744 0.296109 -0.745946 0.100798 -1.33084 0.810089 0.300784 0.103627
1.65677 -1.12964 1.5112 -0.453991 1.61885e-07 0.891006 1.30037 -0.668389 1.30525 1.18931 -0.620181 1.11882 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.696519 -0.528759 -0.526967 -1.35198 -0.488747 -0.0054159 0 -0.43349 -0.178523 -1.41897 1.31248 -0.177744 0.296109 -0.745946 0.100798 -1.33084 0.810089 0.300784 0.103627
3 1.39903 -0.980318 0.704993 -0 0 1 1.39643 -0.65011 1.33474 1.28079 -0.614041 1.15873 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.202577 -0.56212 -0.683685 -1.58025 -0.763699 -0.129883 0 0.0193705 -0.27201 -1.29389 1.19253 -0.208828 0.253906 -0.77461 -0.027732 -1.14632 0.74411 0.183294 0.235306
1.4756 -0.616359 0.70501 -0 0 1 1.39643 -0.65011 1.33474 1.28079 -0.614041 1.15873 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.202577 -0.56212 -0.683685 -1.58025 -0.763699 -0.129883 0 0.0193705 -0.27201 -1.29389 1.19253 -0.208828 0.253906 -0.77461 -0.027732 -1.14632 0.74411 0.183294 0.235306
1.65677 -1.12964 1.5112 -0.453991 1.61885e-07 0.891006 1.39643 -0.65011 1.33474 1.28079 -0.614041 1.15873 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.202577 -0.56212 -0.683685 -1.58025 -0.763699 -0.129883 0 0.0193705 -0.27201 -1.29389 1.19253 -0.208828 0.253906 -0.77461 -0.027732 -1.14632 0.74411 0.183294 0.235306
3 1.4802 -0.888453 0.705022 -0 0 1 1.48011 -0.636861 1.36806 1.37228 -0.607901 1.19864 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.446424 -0.694711 -0.703456 -1.64695 -1.1885 -0.585415 0 0.0275845 -0.247152 -1.06022 1.12388 -0.371744 0.227812 0.0865566 -0.431994 -0.8395 0.82054 -0.304467 0.386386
1.4756 -0.616359 0.70501 -0 0 1 1.48011 -0.636861 1.36806 1.37228 -0.607901 1.19864 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.446424 -0.694711 -0.703456 -1.64695 -1.1885 -0.585415 0 0.0275845 -0.247152 -1.06022 1.12388 -0.371744 0.227812 0.0865566 -0.431994 -0.8395 0.82054 -0.304467 0.386386
1.65677 -1.12964 1.5112 -0.453991 1.61885e-07 0.891006 1.48011 -0.636861 1.36806 1.37228 -0.607901 1.19864 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 0.446424 -0.694711 -0.703456 -1.64695 -1.1885 -0.585415 0 0.0275845 -0.247152 -1.06022 1.12388 -0.371744 0.227812 0.0865566 -0.431994 -0.8395 0.82054 -0.304467 0.386386
3 1.4802 -0.888453 0.705022 -0 0 1 1.5638 -0.631475 1.39907 1.46376 -0.601761 1.23855 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.457841 -0.525104 -0.698004 -1.52297 -0.599625 0.0314449 0 0.0345406 -0.22584 -0.774308 0.91953 -0.451676 0.205453 0.102949 -0.386635 -0.527097 0.532781 -0.322586 0.338601
1.4756 -0.616359 0.70501 -0 0 1 1.5638 -0.631475 1.39907 1.46376 -0.601761 1.23855 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.457841 -0.525104 -0.698004 -1.52297 -0.599625 0.0314449 0 0.0345406 -0.22584 -0.774308 0.91953 -0.451676 0.205453 0.102949 -0.386635 -0.527097 0.532781 -0.322586 0.338601
1.87102 -1.12195 1.62037 -0.453991 1.61885e-07 0.891006 1.5638 -0.631475 1.39907 1.46376 -0.601761 1.23855 0.988771 0 0.149438 0 0 0 0 0 0 0 0 0 0 0 0 -0.457841 -0.525104 -0.698004 -1.52297 -0.599625 0.0314449 0 0.0345406 -0.22584 -0.774308 0.91953 -0.451676 0.205453 0.102949 -0.386635 -0.527097 0.532781 -0.322586 0.338601
script/loadhrp2stair_bauzil.py
View file @ dc7e23be
......@@ -46,7 +46,7 @@ rHand = 'RARM_JOINT5'
rArmOffset = [-0.05,-0.050,-0.050]
rArmNormal = [1,0,0]
rArmx = 0.024; rArmy = 0.024
fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, 0.1)
fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 30000, 0.05)
#~ AFTER loading obstacles
......@@ -97,7 +97,12 @@ fullBody.setEndState(q_goal,[rLegId,lLegId])#,rarmId,larmId])
#~
#~ configs = fullBody.interpolate(0.1)
configs = fullBody.interpolate(0.1)
i = 0;
#~ configs = fullBody.interpolate(0.15)
i = 1;
r (configs[i]); i=i+1; i-1
#~ q_init = fullBody.generateContacts(q_init, [0,0,-1]); r (q_init)
f1 = open("secondchoice","w+")
f1.write(str(configs))
f1.close()
script/stair_path_bauzil_hrp2.py
View file @ dc7e23be
......@@ -24,6 +24,7 @@ r = Viewer (ps)
q_init = rbprmBuilder.getCurrentConfig ();
q_init [0:3] = [0, -0.7, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
#~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ]
q_goal = q_init [::]
......
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