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Guilhem Saurel
hpp-rbprm-corba
Commits
423a546f
Commit
423a546f
authored
Jun 28, 2019
by
stevet
Browse files
generate one contact
parent
63e2f2f0
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
423a546f
...
...
@@ -290,7 +290,7 @@ class FullBody (Robot):
num_max_sample
=
1
for
(
limbName
,
normal
)
in
zip
(
contacts
,
normals
):
p
=
cl
.
getEffectorPosition
(
limbName
,
configuration
)[
0
]
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
Tru
e
)
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
Fals
e
)
return
cl
.
setStartStateId
(
sId
)
...
...
@@ -308,7 +308,7 @@ class FullBody (Robot):
num_max_sample
=
1
for
(
limbName
,
normal
)
in
zip
(
contacts
,
normals
):
p
=
cl
.
getEffectorPosition
(
limbName
,
configuration
)[
0
]
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
Tru
e
)
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
Fals
e
)
return
cl
.
setEndStateId
(
sId
)
## Initialize the first state of the path interpolation
...
...
@@ -835,7 +835,7 @@ class FullBody (Robot):
# \param viewer gepetto viewer instance
def
draw
(
self
,
configuration
,
viewer
):
viewer
(
configuration
)
for
limb
,
groupid
in
self
.
octrees
.
items
():
for
limb
,
groupid
in
self
.
octrees
.
iter
items
():
transform
=
self
.
clientRbprm
.
rbprm
.
getOctreeTransform
(
limb
,
configuration
)
viewer
.
client
.
gui
.
applyConfiguration
(
groupid
,
transform
)
viewer
.
client
.
gui
.
refresh
()
...
...
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