Commit fec07007 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[script] add kinematic constraints path in talos script

parent 86fe01d2
......@@ -31,10 +31,10 @@ print "Generate limb DB ..."
tStart = time.time()
# generate databases :
nbSamples = 10000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep06", 0.01)
nbSamples = 50000
fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints)
fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep06", 0.01)
fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints)
fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
......@@ -81,7 +81,7 @@ fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lLegId])
print "Generate contact plan ..."
tStart = time.time()
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True,testReachability=False)
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True)
tInterpolateConfigs = time.time() - tStart
print "Done."
print "number of configs :", len(configs)
......
......@@ -87,7 +87,7 @@ pp = PathPlayer (v)
pp.dt=0.03
pp.displayVelocityPath(0)
v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
pp(0)
#pp(0)
# move the robot out of the view before computing the contacts
q_far = q_init[::]
......
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