def set_globals():
global robot_context
global states
global tp
global model
global path_planner
global ps
global r
global pp
global fullBody
global configs
global lLegId
global rLegId
global larmId
global rarmId
global limbsCOMConstraints
global fullBody
global configs
global cl
global path
states = robot_context["states"]
tp = robot_context["tp"]
model = robot_context["model"]
ps = robot_context["ps"]
r = robot_context["r"]
pp = robot_context["pp"]
fullBody = robot_context["fullBody"]
configs = robot_context["configs"]
cl = robot_context["cl"]
path = robot_context["path"]
limbsCOMConstraints = model.limbsCOMConstraints
rLegId = model.rLegId
lLegId = model.lLegId
larmId = model.larmId
rarmId = model.rarmId
path_planner = tp
init_plan_execute(fullBody, r, path_planner, pp)
init_bezier_traj(fullBody, r, pp, configs, limbsCOMConstraints)
def sh(ctxt, i):
sc(ctxt)
r(states[i].q())
def lc():
load_save("19_06_s")
load_paths("19_06_p")
#~ save_paths("19_06_p_save")
save("19_06_s_save")
def sac():
save("19_06_s")
save_paths("19_06_p")
init_bezier_traj(fullBody, r, pp, configs, limbsCOMConstraints)
all_paths = [[], []]
from hpp.corbaserver.rbprm.state_alg import *
#~ d(0.07);e(0.01)
i = 0
#~ d(0.09); e(0.01); states = planToStates(fullBody,configs)
#~ lc()
#~ le = min(38, len(states)-10)
#~ onepath2(states [0:-1],nopt=3,mu=0.99,effector=True)
#~ e(0.01)
r(states[i].q())
def lc():
load_save("19_06_s")
load_paths("19_06_p")
save_paths("19_06_p_save")
save("19_06_s_save")
def sac():
save("19_06_s")
save_paths("19_06_p")
init_bezier_traj(fullBody, r, pp, [], limbsCOMConstraints)
all_paths = [[], []]
from hpp.corbaserver.rbprm.state_alg import *
#~ d(0.07);e(0.01)
i = 0
configs = d(0.05)
e(0.01)
states = planToStates(fullBody, configs)
#~ lc()
#~ fullBody.setReferenceConfig(configs[-1])
fullBody.setReferenceConfig(states[0].q())
onepath2(states[0:-1],
nopt=0,
mu=1,
