Commit 5c6019ff authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Scripts] by default, only add limbs of the legs of humanoid robots

parent 51129c04
......@@ -13,6 +13,8 @@ class HRP2ContactGenerator(AbstractContactGenerator):
self.fullbody = Robot()
self.q_ref = self.fullbody.referenceConfig[::] + [0] * self.path_planner.extra_dof
self.weight_postural = self.fullbody.postureWeights[::] + [0] * self.path_planner.extra_dof
self.fullbody.limbs_names=[self.fullbody.rLegId, self.fullbody.lLegId]
def set_joints_bounds(self):
super().set_joints_bounds()
......
......@@ -13,6 +13,7 @@ class TalosContactGenerator(AbstractContactGenerator):
self.fullbody = Robot()
self.q_ref = self.fullbody.referenceConfig[::] + [0] * self.path_planner.extra_dof
self.weight_postural = self.fullbody.postureWeights[::] + [0] * self.path_planner.extra_dof
self.fullbody.limbs_names=[self.fullbody.rLegId, self.fullbody.lLegId]
def init_viewer(self):
super().init_viewer()
......
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