Commit 423a546f authored by stevet's avatar stevet
Browse files

generate one contact

parent 63e2f2f0
......@@ -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, True)
cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
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, True)
cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
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.iteritems():
transform = self.clientRbprm.rbprm.getOctreeTransform(limb, configuration)
viewer.client.gui.applyConfiguration(groupid,transform)
viewer.client.gui.refresh()
......
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