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Commit f6230d5f authored by Pierre Fernbach's avatar Pierre Fernbach
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[script] kin constraints for talos_platform : reduced to 0.8

parent 09bd1425
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script/scenarios/memmo/talos_platform_random.py
View file @ f6230d5f
......@@ -68,9 +68,9 @@ tStart = time.time()
# generate databases :
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 = 0.85)
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints,kinematicConstraintsMin = 0.8)
#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 = 0.85)
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints,kinematicConstraintsMin = 0.8)
#fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
......
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