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'