From 82b1cf7a2e7ef7e34abf4b11fecdc65d1c1bf332 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Tue, 6 Aug 2019 17:35:04 +0200
Subject: [PATCH] loadAllLimbs : add disableEndEffector as optional argument
(default false)
---
src/hpp/corbaserver/rbprm/anymal/robot.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index ba6f63d..a61a3aa 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -127,7 +127,7 @@ class Robot (Parent):
self.RH_HFE_bounds = self.getJointBounds('RH_HFE')
self.RH_HAA_bounds = self.getJointBounds('RH_KFE')
- def loadAllLimbs(self,heuristic, analysis = None, nbSamples = nbSamples, octreeSize = octreeSize):
+ def loadAllLimbs(self,heuristic, analysis = None, nbSamples = nbSamples, octreeSize = octreeSize,disableEffectorCollision = False):
if isinstance(heuristic,basestring):#only one heuristic name given assign it to all the limbs
dict_heuristic = {}
for id in self.limbs_names:
@@ -141,7 +141,7 @@ 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.T.tolist()[0],self.dict_normal[eff],self.dict_size[eff][0]/2.,self.dict_size[eff][1]/2.,nbSamples,dict_heuristic[id],octreeSize,self.cType,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.T.tolist()[0],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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