Commit 0d46d71d authored by Steve Tonneau's avatar Steve Tonneau
Browse files

cleaning

parent bb0e36cf
......@@ -9,9 +9,9 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_body.stl"/>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_lleg_rom.stl"/>
</geometry>
<material name="white">
<material name="red">
<color rgba="1 1 1 1"/>
</material>
</visual>
......@@ -45,7 +45,7 @@
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso.stl"/>
</geometry>
<material name="white">
<material name="red">
<color rgba="1 1 1 1"/>
</material>
</visual>
......
......@@ -13,7 +13,9 @@ rbprmBuilder = Builder ()
rbprmBuilder.loadModel(urdfName, urdfNameRoms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix)
rbprmBuilder.setJointBounds ("base_joint_xyz", [-1, 1, -4, 0, 1, 2.5])
rbprmBuilder.setFilter(['hrp2_larm_rom','hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setFilter(['hrp2_lleg_rom','hrp2_rleg_rom'])
rbprmBuilder.setNormalFilter('hrp2_lleg_rom',[0,0,1], 0.7)
rbprmBuilder.setNormalFilter('hrp2_rleg_rom',[0,0,1], 0.7)
#~ from hpp.corbaserver.rbprm. import ProblemSolver
from hpp.corbaserver.rbprm.problem_solver import ProblemSolver
......
......@@ -101,7 +101,7 @@ class Builder (object):
# \param normal 3d vector specifying the normal,
# \param tolerance expressed as the dot product between the considered obstacle and the ideal normal.
# if the dot product is greater than the tolerance the surface will be considered valid.
def setnormalfilter (self, rom, normal, tolerance):
def setNormalFilter (self, rom, normal, tolerance):
return self.client.rbprm.rbprm.setNormalFilter (rom, normal, tolerance)
## Specifies a rom constraint for the planner.
......
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