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Guilhem Saurel
hpp-rbprm-corba
Commits
5c6019ff
Commit
5c6019ff
authored
Mar 23, 2020
by
Pierre Fernbach
Browse files
[Scripts] by default, only add limbs of the legs of humanoid robots
parent
51129c04
Changes
2
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Inline
Side-by-side
src/hpp/corbaserver/rbprm/scenarios/hrp2_contact_generator.py
View file @
5c6019ff
...
...
@@ -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
()
...
...
src/hpp/corbaserver/rbprm/scenarios/talos_contact_generator.py
View file @
5c6019ff
...
...
@@ -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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