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Humanoid Path Planner
anymal-rbprm
Commits
c94c38a1
Commit
c94c38a1
authored
Jan 30, 2020
by
Pierre Fernbach
Browse files
[Python] update to python3
parent
90d9283c
Changes
5
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Inline
Side-by-side
src/hpp/corbaserver/rbprm/anymal/__init__.py
View file @
c94c38a1
...
...
@@ -2,4 +2,4 @@
# Copyright (c) 2019 CNRS
# Author : Pierre Fernbach
from
robot
import
Robot
from
.
robot
import
Robot
src/hpp/corbaserver/rbprm/anymal/robot.py
View file @
c94c38a1
...
...
@@ -161,9 +161,9 @@ class Robot (Parent):
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
print
(
"add limb : "
,
id
)
eff
=
self
.
dict_limb_joint
[
id
]
print
"effector name = "
,
eff
print
(
"effector name = "
,
eff
)
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_abstract/__init__.py
View file @
c94c38a1
...
...
@@ -2,4 +2,4 @@
# Copyright (c) 2019 CNRS
# Author : Pierre Fernbach
from
robot
import
Robot
from
.
robot
import
Robot
src/hpp/corbaserver/rbprm/anymal_contact6D/__init__.py
View file @
c94c38a1
...
...
@@ -2,4 +2,4 @@
# Copyright (c) 2019 CNRS
# Author : Pierre Fernbach
from
robot
import
Robot
from
.
robot
import
Robot
src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
View file @
c94c38a1
...
...
@@ -116,9 +116,9 @@ class Robot (Parent):
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
print
(
"add limb : "
,
id
)
eff
=
self
.
dict_limb_joint
[
id
]
print
"effector name = "
,
eff
print
(
"effector name = "
,
eff
)
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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