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,