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Commit f3fc2074 authored by Pierre Fernbach's avatar Pierre Fernbach
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[script] update talos_flatGround

parent 12c13b23
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script/scenarios/demos/talos_flatGround.py
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...@@ -25,18 +25,19 @@ v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True) ...@@ -25,18 +25,19 @@ v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
q_ref = fullBody.referenceConfig[::]+[0]*6 q_ref = fullBody.referenceConfig[::]+[0]*6
q_init = q_ref[::] q_init = q_ref[::]
fullBody.setReferenceConfig(q_ref) fullBody.setReferenceConfig(q_ref)
fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
fullBody.setCurrentConfig (q_init) fullBody.setCurrentConfig (q_init)
fullBody.setPostureWeights(fullBody.postureWeights[::]+[0]*6)
fullBody.usePosturalTaskContactCreation(True)
print "Generate limb DB ..." print "Generate limb DB ..."
tStart = time.time() tStart = time.time()
# generate databases : # generate databases :
nbSamples = 100000 nbSamples = 100000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.75) fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.75)
fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True) #fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.75) fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep06", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.75)
fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True) #fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
tGenerate = time.time() - tStart tGenerate = time.time() - tStart
...@@ -82,7 +83,7 @@ fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lLegId]) ...@@ -82,7 +83,7 @@ fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lLegId])
print "Generate contact plan ..." print "Generate contact plan ..."
tStart = time.time() tStart = time.time()
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True,quasiStatic=True) configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True)
tInterpolateConfigs = time.time() - tStart tInterpolateConfigs = time.time() - tStart
print "Done." print "Done."
print "Contact plan generated in : "+str(tInterpolateConfigs)+" s" print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
......
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