def run_contact_generation(self):
print("### MLP : contact sequence ###")
generate_contact_sequence, ContactGenerationOutputs = self.cfg.get_contact_generation_method()
self.cs, self.fullBody, self.viewer = generate_contact_sequence(self.cfg)
ContactGenerationOutputs.assertRequirements(self.cs)
self.gui = self.viewer.client.gui
if self.cfg.WRITE_STATUS:
with open(self.cfg.STATUS_FILENAME, "a") as f:
f = open(self.cfg.STATUS_FILENAME, "a")
f.write("gen_cs_success: True\n")
if self.cfg.DISPLAY_CS_STONES:
display_tools.displaySteppingStones(self.cs, self.gui, self.viewer.sceneName, self.cfg.Robot)
if self.cfg.DISPLAY_CS:
if display_tools.DisplayContactSequenceRequirements.checkAndFillRequirements(self.cs, self.cfg, self.fullBody):
input("Press Enter to display the contact sequence ...")
display_tools.displayContactSequence(self.viewer, self.cs)
def dispCS(step=0.2):
display_tools.displayContactSequence(viewer, cs, step)
def display_cs(self, step=0.2):
display_tools.displayContactSequence(self.viewer, self.cs, step)
import mlp.config as cfg
import mlp.viewer.display_tools as display_tools
print "### MLP : contact sequence ###"
from mlp.contact_sequence import generateContactSequence
cs, fullBody, viewer = generateContactSequence()
if cfg.WRITE_STATUS:
f = open(cfg.STATUS_FILENAME, "a")
f.write("gen_cs_success: True\n")
f.close()
if cfg.DISPLAY_CS:
raw_input("Press Enter to display the contact sequence ...")
display_tools.displayContactSequence(viewer, cs)
if cfg.SAVE_CS:
filename = cfg.CONTACT_SEQUENCE_PATH + "/" + cfg.DEMO_NAME + ".cs"
print "Write contact sequence binary file : ", filename
cs.saveAsBinary(filename)
if cfg.DISPLAY_CS_STONES:
display_tools.displaySteppingStones(cs, viewer.client.gui,
viewer.sceneName, cfg.Robot)
print "------------------------------"
print "### MLP : centroidal, initial Guess ###"
from mlp.centroidal import generateCentroidalInitGuess
cs_initGuess = generateCentroidalInitGuess(cs,
fullBody=fullBody,
viewer=viewer)
if cfg.DISPLAY_INIT_GUESS_TRAJ and cs_initGuess: