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Humanoid Path Planner
talos-rbprm
Commits
7daeea2b
Commit
7daeea2b
authored
Dec 16, 2019
by
JasonChmn
Browse files
Add parameter for context in talos and talos_abstract
parent
31fcd31c
Changes
2
Hide whitespace changes
Inline
Side-by-side
talos_rbprm/talos.py
View file @
7daeea2b
...
...
@@ -397,11 +397,11 @@ class Robot(Parent):
kneeIds
=
{
"Left"
:
10
,
"Right"
:
16
}
def
__init__
(
self
,
name
=
None
,
load
=
True
):
Parent
.
__init__
(
self
,
load
)
def
__init__
(
self
,
name
=
None
,
load
=
True
,
client
=
None
,
clientRbprm
=
None
):
Parent
.
__init__
(
self
,
load
,
clientRbprm
)
if
load
:
self
.
loadFullBodyModel
(
self
.
urdfName
,
self
.
rootJointType
,
self
.
meshPackageName
,
self
.
packageName
,
self
.
urdfSuffix
,
self
.
srdfSuffix
)
self
.
urdfSuffix
,
self
.
srdfSuffix
,
client
)
if
name
is
not
None
:
self
.
name
=
name
self
.
joint1L_bounds_prev
=
self
.
getJointBounds
(
'leg_left_1_joint'
)
...
...
talos_rbprm/talos_abstract.py
View file @
7daeea2b
...
...
@@ -34,11 +34,11 @@ class Robot(Parent):
ref_EE_lArm
=
[
0.13028765672452458
,
0.44360498616312666
,
-
0.2881211563246389
]
ref_EE_rArm
=
[
0.13028765672452458
,
-
0.44360498616312666
,
-
0.2881211563246389
]
def
__init__
(
self
,
name
=
None
,
load
=
True
):
Parent
.
__init__
(
self
,
load
)
def
__init__
(
self
,
name
=
None
,
load
=
True
,
client
=
None
,
clientRbprm
=
None
):
Parent
.
__init__
(
self
,
load
,
clientRbprm
)
if
load
:
self
.
loadModel
(
self
.
urdfName
,
self
.
urdfNameRom
,
self
.
rootJointType
,
self
.
meshPackageName
,
self
.
packageName
,
self
.
urdfSuffix
,
self
.
srdfSuffix
)
self
.
urdfSuffix
,
self
.
srdfSuffix
,
client
=
client
)
if
name
is
not
None
:
self
.
name
=
name
if
'talos_lleg_rom'
in
self
.
urdfNameRom
:
...
...
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