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Humanoid Path Planner
anymal-rbprm
Commits
90d9283c
Commit
90d9283c
authored
Jan 27, 2020
by
Pierre Fernbach
Browse files
[Python] update to use of numpy array instead of matrix
parent
ed8fae3a
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/hpp/corbaserver/rbprm/anymal/robot.py
View file @
90d9283c
...
...
@@ -164,7 +164,7 @@ 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
,
disableEffectorCollision
=
disableEffectorCollision
,
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
.
tolist
(),
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
)
...
...
src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
View file @
90d9283c
...
...
@@ -119,7 +119,7 @@ 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
.
tolist
(),
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
)
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