From 90d9283cc7637f86d31d88886f995f2feebed4c6 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Mon, 27 Jan 2020 13:45:46 +0100
Subject: [PATCH] [Python] update to use of numpy array instead of matrix
---
src/hpp/corbaserver/rbprm/anymal/robot.py | 2 +-
src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index 6bd2ea3..60cac69 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -164,7 +164,7 @@ 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,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)
diff --git a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
index fc6b639..7c31a8d 100644
--- a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
@@ -119,7 +119,7 @@ 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.tolist(),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)
if analysis :
self.runLimbSampleAnalysis(id, analysis, True)
--
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