From 7ac649da04245cf885aaacf5c465b6901adbe26a Mon Sep 17 00:00:00 2001 From: Guilhem Saurel <guilhem.saurel@laas.fr> Date: Tue, 18 Feb 2020 16:58:56 +0100 Subject: [PATCH] [wip/py-sot-talos] add patch-aa for eigenpy v2 --- py-sot-talos/distinfo | 1 + py-sot-talos/patches/patch-aa | 23 +++++++++++++++++++++++ 2 files changed, 24 insertions(+) create mode 100644 py-sot-talos/patches/patch-aa diff --git a/py-sot-talos/distinfo b/py-sot-talos/distinfo index 6eabfa03..92e04d56 100644 --- a/py-sot-talos/distinfo +++ b/py-sot-talos/distinfo @@ -1,3 +1,4 @@ SHA1 (sot-talos-1.1.0.tar.gz) = bf78a5bb2c076cba1575d1313fb19a2c69356640 RMD160 (sot-talos-1.1.0.tar.gz) = c3c7a2f05fbb2438a9afd83c2d8a78da18976558 Size (sot-talos-1.1.0.tar.gz) = 810645 bytes +SHA1 (patch-aa) = 23797e17cad85334b2f862b70609b2322266996e diff --git a/py-sot-talos/patches/patch-aa b/py-sot-talos/patches/patch-aa new file mode 100644 index 00000000..f55a80d9 --- /dev/null +++ b/py-sot-talos/patches/patch-aa @@ -0,0 +1,23 @@ +fix for eigenpy v2: use np.array instead of np.matrix + +--- src/dynamic_graph/sot/talos/talos.py.orig 2019-11-05 13:00:02.000000000 +0100 ++++ src/dynamic_graph/sot/talos/talos.py 2020-02-18 14:58:34.163678024 +0100 +@@ -90,12 +90,12 @@ + # TODO For position limit, we remove the first value to get + # a vector of the good size because SoT use euler angles and not + # quaternions... +- self.device.setPositionBounds(self.pinocchioModel.lowerPositionLimit.T.tolist()[0][1:], +- self.pinocchioModel.upperPositionLimit.T.tolist()[0][1:]) +- self.device.setVelocityBounds((-self.pinocchioModel.velocityLimit).T.tolist()[0], +- self.pinocchioModel.velocityLimit.T.tolist()[0]) +- self.device.setTorqueBounds((-self.pinocchioModel.effortLimit).T.tolist()[0], +- self.pinocchioModel.effortLimit.T.tolist()[0]) ++ self.device.setPositionBounds(self.pinocchioModel.lowerPositionLimit.tolist()[1:], ++ self.pinocchioModel.upperPositionLimit.tolist()[1:]) ++ self.device.setVelocityBounds((-self.pinocchioModel.velocityLimit).tolist(), ++ self.pinocchioModel.velocityLimit.tolist()) ++ self.device.setTorqueBounds((-self.pinocchioModel.effortLimit).tolist(), ++ self.pinocchioModel.effortLimit.tolist()) + self.halfSitting = initialConfig + self.device.set(self.halfSitting) + plug(self.device.state, self.dynamic.position) -- GitLab