From 5fa2aad2e982126d2f09bed3cc0b279dc6d46a0a Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Mon, 25 Mar 2019 14:02:53 +0100
Subject: [PATCH] [export] minor change for openHRP export
---
scripts/hpp_wholebody_motion/export/openHRP.py | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/scripts/hpp_wholebody_motion/export/openHRP.py b/scripts/hpp_wholebody_motion/export/openHRP.py
index dc4c87d..5e98c7b 100644
--- a/scripts/hpp_wholebody_motion/export/openHRP.py
+++ b/scripts/hpp_wholebody_motion/export/openHRP.py
@@ -309,8 +309,9 @@ def writeKinematicsData(robot, data, path, project_name):
print "write file : ",filename_acc
-def export(q_t,v_t,a_t):
- t_t = [i*cfg.IK_dt for i in range(len(q_t))]
+def export(q_t,v_t,a_t,t_t = None):
+ if not t_t :
+ t_t = [i*cfg.IK_dt for i in range(len(q_t))]
assert len(q_t) == len(v_t) and len(q_t) == len(a_t) and len(q_t) == len(t_t) and "all states vector must have the same size"
rp = RosPack()
urdf = rp.get_path(cfg.Robot.packageName)+'/urdf/'+cfg.Robot.urdfName+cfg.Robot.urdfSuffix+'.urdf'
--
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