Commit ec8f23a3 authored by Pierre Fernbach's avatar Pierre Fernbach Committed by Pierre Fernbach
Browse files

[python] update rbprmfullbody.py to changes in addNewContact API (addition of rotation target)

parent aef9ad1f
......@@ -256,7 +256,7 @@ 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, False)
cl.addNewContact(sId, limbName, p, normal, num_max_sample, False,[0,0,0,0])
return sId
# # Retrieves the contact candidates configurations given a configuration and a limb
......@@ -322,7 +322,7 @@ 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, False)
cl.addNewContact(sId, limbName, p, normal, num_max_sample, False,[0,0,0,0])
return cl.setStartStateId(sId)
# # Initialize the goal configuration of the path interpolation
......@@ -339,7 +339,7 @@ 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, False)
cl.addNewContact(sId, limbName, p, normal, num_max_sample, False,[0,0,0,0])
return cl.setEndStateId(sId)
# # Initialize the first state of the path interpolation
......
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