Commit c9be91e9 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

Merge branch 'master' into 'master'

Update to python3 and numpy array

See merge request anybotics/anymal-rbprm!3
parents ed8fae3a c94c38a1
......@@ -2,4 +2,4 @@
# Copyright (c) 2019 CNRS
# Author : Pierre Fernbach
from robot import Robot
from .robot import Robot
......@@ -161,10 +161,10 @@ 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
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)
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)
......
......@@ -2,4 +2,4 @@
# Copyright (c) 2019 CNRS
# Author : Pierre Fernbach
from robot import Robot
from .robot import Robot
......@@ -2,4 +2,4 @@
# Copyright (c) 2019 CNRS
# Author : Pierre Fernbach
from robot import Robot
from .robot import Robot
......@@ -116,10 +116,10 @@ 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
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)
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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