Commit 2feebfc1 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

load all limbs can now take a map of id:heuristic as input

parent 23f18728
......@@ -106,11 +106,20 @@ class Robot (Parent):
self.name = name
def loadAllLimbs(self,heuristic, analysis = None, nbSamples = nbSamples, octreeSize = octreeSize):
if isinstance(heuristic,basestring):#only one heuristic name given assign it to all the limbs
dict_heuristic = {}
for id in self.limbs_names:
dict_heuristic.update({id:heuristic})
elif isinstance(heuristic,dict):
dict_heuristic=heuristic
else :
raise Exception("heuristic should be either a string or a map limbId:string")
#dict_heuristic = {self.rLegId:"static", self.lLegId:"static", self.rArmId:"fixedStep04", self.lArmId:"fixedStep04"}
for id in self.limbs_names:
print "add limb : ",id
eff = self.dict_limb_joint[id]
print "effector name = ",eff
self.addLimb(id,self.dict_limb_rootJoint[id],eff,self.dict_offset[eff].translation.T.tolist()[0],self.dict_normal[eff],self.dict_size[eff][0]/2.,self.dict_size[eff][1]/2.,nbSamples,heuristic,octreeSize,self.cType,kinematicConstraintsPath=self.kinematicConstraintsPath+self.dict_limb_rootJoint[id]+"06_com_constraints.obj",limbOffset=self.dict_limb_offset[id],kinematicConstraintsMin=self.minDist)
self.addLimb(id,self.dict_limb_rootJoint[id],eff,self.dict_offset[eff].translation.T.tolist()[0],self.dict_normal[eff],self.dict_size[eff][0]/2.,self.dict_size[eff][1]/2.,nbSamples,dict_heuristic[id],octreeSize,self.cType,kinematicConstraintsPath=self.kinematicConstraintsPath+self.dict_limb_rootJoint[id]+"06_com_constraints.obj",limbOffset=self.dict_limb_offset[id],kinematicConstraintsMin=self.minDist)
if analysis :
self.runLimbSampleAnalysis(id, analysis, True)
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment