From 26f7d9778468ea72a4f449abab947398c18b8716 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@gmail.com>
Date: Wed, 20 May 2020 16:08:30 +0200
Subject: [PATCH] [format]
---
src/hpp/corbaserver/rbprm/anymal/robot.py | 16 +++++++++++++++-
1 file changed, 15 insertions(+), 1 deletion(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index a5eff85..4763bac 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/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)
--
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