Commit 65ba2c60 authored by Francois Keith's avatar Francois Keith
Browse files

Correct the creation of the hand frames.

The rightHand info was always the identity matrix.
Directly use the getHandParameter and remove
unnecessary intermediate operations.
parent 5d031641
......@@ -296,18 +296,11 @@ class AbstractHumanoidRobot (object):
# --- additional frames ---
self.frames = dict()
frameName = 'rightHand'
hp = self.dynamic.getHandParameter (True)
transformation = list (map (list, I4))
for i in range (3): transformation [i][3] = hp [i][3]
transformation = tuple (map (tuple, transformation))
self.frames [frameName] = self.createFrame (
"{0}_{1}".format (self.name, frameName),
transformation, "right-wrist")
self.dynamic.getHandParameter (True), "right-wrist")
frameName = 'leftHand'
hp = self.dynamic.getHandParameter (False)
transformation = list (map (list, I4))
for i in range (3): transformation [i][3] = hp [i][3]
transformation = tuple (map (tuple, transformation))
self.frames [frameName] = self.createFrame (
"{0}_{1}".format (self.name, frameName),
self.dynamic.getHandParameter (False), "left-wrist")
......
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