From 89a503eeec3f1755414ac3e7d93764ba8c88d722 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Tue, 12 Mar 2019 13:15:17 +0100
Subject: [PATCH] [main,config] change way to choose the demo, use python
arguments
---
scripts/hpp_wholebody_motion/config.py | 41 +++++++++++++-------------
1 file changed, 20 insertions(+), 21 deletions(-)
diff --git a/scripts/hpp_wholebody_motion/config.py b/scripts/hpp_wholebody_motion/config.py
index 53073ab..bf72625 100644
--- a/scripts/hpp_wholebody_motion/config.py
+++ b/scripts/hpp_wholebody_motion/config.py
@@ -1,12 +1,3 @@
-DEMO_NAME = "talos_flatGround"
-DEMO_NAME = "talos_obstaclesFeet"
-#DEMO_NAME = "darpa_hyq"
-#DEMO_NAME = "hyq_slalom_debris"
-#DEMO_NAME = "talos_table"
-#DEMO_NAME="anymal_slalom_debris"
-#DEMO_NAME="anymal_flatGround"
-
-
## PATHS settings :
import os
@@ -14,21 +5,16 @@ PKG_PATH = os.environ['DEVEL_HPP_DIR']+"/src/hpp-wholebody-motion"
OUTPUT_DIR = PKG_PATH+"/res"
CONTACT_SEQUENCE_PATH = OUTPUT_DIR + "/contact_sequences"
TIME_OPT_CONFIG_PATH = PKG_PATH +'/timeOpt_configs'
-LOAD_CS = False
-LOAD_CS_COM = False
-SAVE_CS = True
-SAVE_CS_COM = True
-EXPORT_GAZEBO = True
LOAD_CS = True
LOAD_CS_COM = True
-SAVE_CS = False
-SAVE_CS_COM = False
-EXPORT_GAZEBO = False
+SAVE_CS = not LOAD_CS and True
+SAVE_CS_COM = not LOAD_CS_COM and True
+EXPORT_GAZEBO = True
EXPORT_PATH = OUTPUT_DIR+"/export"
##DISPLAY settings :
DISPLAY_CS = False # display contact sequence from rbprm
-DISPLAY_CS_STONES = False # display stepping stones
+DISPLAY_CS_STONES = True # display stepping stones
DISPLAY_INIT_GUESS_TRAJ = False
DISPLAY_WP_COST=False
DISPLAY_COM_TRAJ = True
@@ -55,16 +41,29 @@ EFF_CHECK_COLLISION = True
## Settings for whole body :
YAW_ROT_GAIN = 1.
USE_CROC_COM = False
-WB_VERBOSE = True
-WB_STOP_AT_EACH_PHASE = True
+WB_VERBOSE = False
+WB_STOP_AT_EACH_PHASE = False
IK_dt = 0.001 # controler time step
IK_PRINT_N = 500 # print state of the problem every IK_PRINT_N time steps (if verbose = True)
# import specific settings for the selected demo. This settings may override default ones.
import importlib
+import sys
+if len(sys.argv)<2 :
+ raise IOError("You must call this script with the name of the config file (one of the file contained in hpp_wholebody_motion.demo_config)")
+
+import argparse
+parser = argparse.ArgumentParser(description = "todo")
+parser.add_argument('demo_name',type=str,help="The name of the demo configuration file to load")
+args = parser.parse_args()
+DEMO_NAME = args.demo_name
+print "# Load demo config : ",DEMO_NAME
# Import the module
-demo_cfg = importlib.import_module('hpp_wholebody_motion.demo_configs.'+DEMO_NAME)
+try :
+ demo_cfg = importlib.import_module('hpp_wholebody_motion.demo_configs.'+DEMO_NAME)
+except ImportError:
+ raise NameError("No demo config file with the given name in hpp_wholebody_motion.demo_config")
# Determine a list of names to copy to the current name space
names = getattr(demo_cfg, '__all__', [n for n in dir(demo_cfg) if not n.startswith('_')])
# Copy those names into the current name space
--
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