Update path_generator.py
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@ -50,20 +50,21 @@ def gen_walk_path(standby_coordinate,
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'type': 'motion'}
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def gen_fastforward_path(standby_coordinate,
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g_steps=20,
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y_radius=50,
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z_radius=30,
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x_radius=10):
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def gen_fastwalk_path(standby_coordinate,
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g_steps=20,
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y_radius=50,
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z_radius=30,
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x_radius=10,
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reverse=False):
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assert (g_steps % 2) == 0
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halfsteps = int(g_steps/2)
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path = np.zeros((g_steps, 6, 3))
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semi_circle_r = semicircle2_generator(
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g_steps, y_radius, z_radius, x_radius)
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g_steps, y_radius, z_radius, x_radius, reverse=reverse)
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semi_circle_l = semicircle2_generator(
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g_steps, y_radius, z_radius, -x_radius)
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g_steps, y_radius, z_radius, -x_radius, reverse=reverse)
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path[:, [0, 2], :] = np.tile(semi_circle_r[:, np.newaxis, :], (1, 2, 1))
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path[:, 1, :] = np.roll(semi_circle_r, halfsteps, axis=0)
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@ -71,31 +72,8 @@ def gen_fastforward_path(standby_coordinate,
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path[:, [3, 5], :] = np.tile(
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np.roll(semi_circle_l[:, np.newaxis, :], halfsteps, axis=0), (1, 2, 1))
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return path+np.tile(standby_coordinate, (g_steps, 1, 1))
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def gen_fastbackward_path(standby_coordinate,
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g_steps=20,
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y_radius=50,
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z_radius=30,
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x_radius=10):
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assert (g_steps % 2) == 0
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halfsteps = int(g_steps/2)
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path = np.zeros((g_steps, 6, 3))
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semi_circle_r = semicircle2_generator(
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g_steps, y_radius, z_radius, x_radius, reverse=True)
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semi_circle_l = semicircle2_generator(
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g_steps, y_radius, z_radius, -x_radius, reverse=True)
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path[:, [0, 2], :] = np.tile(semi_circle_r[:, np.newaxis, :], (1, 2, 1))
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path[:, 1, :] = np.roll(semi_circle_r, halfsteps, axis=0)
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path[:, 4, :] = semi_circle_l
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path[:, [3, 5], :] = np.tile(
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np.roll(semi_circle_l[:, np.newaxis, :], halfsteps, axis=0), (1, 2, 1))
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return path+np.tile(standby_coordinate, (g_steps, 1, 1))
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return {'coord': path+np.tile(standby_coordinate, (g_steps, 1, 1)),
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'type': 'motion'}
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def gen_leftturn_path(standby_coordinate,
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