Commit e27a8953 authored by florent's avatar florent
Browse files

Fix construction of hands.

    * src/humanoid-robot.cc.
parent a881247a
......@@ -538,6 +538,7 @@ void HumanoidRobot::setHumanoidProperties(const ChppHumanoidRobotShPtr& inRobot)
// Get right foot values by symmetry
anklePosInFootFrame(1) *= -1;
soleCenterInFootFrame(1) *= -1;
foot->setAnklePositionInLocalFrame(anklePosInFootFrame);
foot->setSoleCenterInLocalFrame(soleCenterInFootFrame);
foot->setSoleSize(soleLength->value(), soleWidth->value());
foot->setProjectionCenterLocalFrameInSole(vzero);
......@@ -553,6 +554,7 @@ void HumanoidRobot::setHumanoidProperties(const ChppHumanoidRobotShPtr& inRobot)
inRobot->leftWrist(jrlJoint);
CjrlHand* hand=objectFactory_.createHand(jrlJoint);
hand->setAssociatedWrist(jrlJoint);
inRobot->leftHand(hand);
vector3d handCenter;
handCenter(0) = leftHandCenterX->value();
handCenter(1) = leftHandCenterY->value();
......@@ -584,6 +586,7 @@ void HumanoidRobot::setHumanoidProperties(const ChppHumanoidRobotShPtr& inRobot)
inRobot->rightWrist(jrlJoint);
hand=objectFactory_.createHand(jrlJoint);
hand->setAssociatedWrist(jrlJoint);
inRobot->rightHand(hand);
handCenter(1) *= -1;
hand->setCenter(handCenter);
thumbAxis(1) *= -1;
......
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