[format]

src/hpp/corbaserver/rbprm/anymal/robot.py

@@ -164,7 +164,21 @@ class Robot (Parent):
             print("add limb : ",id)
             eff = self.dict_limb_joint[id]
             print("effector name = ",eff)
-            self.addLimb(id,self.dict_limb_rootJoint[id],eff,self.dict_offset[eff].translation.tolist(),self.dict_normal[eff],self.dict_size[eff][0]/2.,self.dict_size[eff][1]/2.,nbSamples,dict_heuristic[id],octreeSize,self.cType,disableEffectorCollision = disableEffectorCollision,kinematicConstraintsPath=self.kinematicConstraintsPath+self.dict_limb_rootJoint[id]+"_06_com_constraints.obj",limbOffset=self.dict_limb_offset[id],kinematicConstraintsMin=self.minDist)
+            self.addLimb(id,
+                         self.dict_limb_rootJoint[id],
+                         eff,
+                         self.dict_offset[eff].translation.tolist(),
+                         self.dict_normal[eff],
+                         self.dict_size[eff][0]/2.,
+                         self.dict_size[eff][1]/2.,
+                         nbSamples,
+                         dict_heuristic[id],
+                         octreeSize,
+                         self.cType,
+                         disableEffectorCollision = disableEffectorCollision,
+                         kinematicConstraintsPath=self.kinematicConstraintsPath+self.dict_limb_rootJoint[id]+"_06_com_constraints.obj",
+                         limbOffset=self.dict_limb_offset[id],
+                         kinematicConstraintsMin=self.minDist)
             if analysis :
                 self.runLimbSampleAnalysis(id, analysis, True)