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Humanoid Path Planner
anymal-rbprm
Commits
82b1cf7a
Commit
82b1cf7a
authored
Aug 06, 2019
by
Pierre Fernbach
Browse files
loadAllLimbs : add disableEndEffector as optional argument (default false)
parent
499f3d40
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/hpp/corbaserver/rbprm/anymal/robot.py
View file @
82b1cf7a
...
...
@@ -127,7 +127,7 @@ class Robot (Parent):
self
.
RH_HFE_bounds
=
self
.
getJointBounds
(
'RH_HFE'
)
self
.
RH_HAA_bounds
=
self
.
getJointBounds
(
'RH_KFE'
)
def
loadAllLimbs
(
self
,
heuristic
,
analysis
=
None
,
nbSamples
=
nbSamples
,
octreeSize
=
octreeSize
):
def
loadAllLimbs
(
self
,
heuristic
,
analysis
=
None
,
nbSamples
=
nbSamples
,
octreeSize
=
octreeSize
,
disableEffectorCollision
=
False
):
if
isinstance
(
heuristic
,
basestring
):
#only one heuristic name given assign it to all the limbs
dict_heuristic
=
{}
for
id
in
self
.
limbs_names
:
...
...
@@ -141,7 +141,7 @@ class Robot (Parent):
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
,
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
)
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
,
disableEffectorCollision
=
disableEffectorCollision
,
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
)
...
...
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