lLegx,
lLegy,
50000,
"dynamicWalk",
0.01,
"_6_DOF",
limbOffset=lLegLimbOffset)
fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(lLegId, "./db/hrp2_lleg_db.db")
## Add arms (not used for contact) :
rarmId = 'hrp2_rarm_rom'
rarm = 'RARM_JOINT0'
rHand = 'RARM_JOINT5'
fullBody.addNonContactingLimb(rarmId, rarm, rHand, 50000)
fullBody.runLimbSampleAnalysis(rarmId, "ReferenceConfiguration", True)
larmId = 'hrp2_larm_rom'
larm = 'LARM_JOINT0'
lHand = 'LARM_JOINT5'
fullBody.addNonContactingLimb(larmId, larm, lHand, 50000)
fullBody.runLimbSampleAnalysis(larmId, "ReferenceConfiguration", True)
tGenerate = time.time() - tStart
print("generate databases in : " + str(tGenerate) + " s")
"""
fullBody.addLimbDatabase("./db/hrp2_rleg_db.db",rLegId,"forward")
fullBody.addLimbDatabase("./db/hrp2_lleg_db.db",lLegId,"forward")
tLoad = time.time() - tStart
print "Load databases in : "+str(tLoad)+" s"
"""
rLegNormal,
lLegx,
lLegy,
50000,
"forward",
0.01,
"_6_DOF",
kinematicConstraintsPath=
"package://hpp-rbprm-corba/com_inequalities/fullSize/LLEG_JOINT0_com_constraints.obj",
limbOffset=lLegLimbOffset,
kinematicConstraintsMin=0.3)
fullBody.runLimbSampleAnalysis(lLegId, "ReferenceConfiguration", True)
#fullBody.saveLimbDatabase(lLegId, "./db/hrp2_lleg_db.db")
fullBody.setReferenceConfig(q_ref)
## Add arms (not used for contact) :
"""
rarmId = 'hrp2_rarm_rom'
rarm = 'RARM_JOINT0'
rHand = 'RARM_JOINT5'
fullBody.addNonContactingLimb(rarmId,rarm,rHand, 10000)
fullBody.runLimbSampleAnalysis(rarmId, "ReferenceConfiguration", True)
larmId = 'hrp2_larm_rom'
larm = 'LARM_JOINT0'
lHand = 'LARM_JOINT5'
fullBody.addNonContactingLimb(larmId,larm,lHand, 10000)
fullBody.runLimbSampleAnalysis(larmId, "ReferenceConfiguration", True)
"""
"""
rarmId = 'hrp2_rarm_rom'
rarm = 'RARM_JOINT0'
rHand = 'RARM_JOINT5'
