Commit d7593082 authored by Pierre Fernbach's avatar Pierre Fernbach Committed by Pierre Fernbach
Browse files

Correctly use array instead of matrix

parent 29f49555
......@@ -396,13 +396,13 @@ class Robot(Parent):
# various offset used by scripts :
MRsole_offset = SE3.Identity()
MRsole_offset.translation = np.matrix(rLegOffset).T
MRsole_offset.translation = np.array(rLegOffset)
MLsole_offset = SE3.Identity()
MLsole_offset.translation = np.matrix(lLegOffset).T
MLsole_offset.translation = np.array(lLegOffset)
MRhand_offset = SE3.Identity()
MRhand_offset.translation = np.matrix(rArmOffset).T
MRhand_offset.translation = np.array(rArmOffset)
MLhand_offset = SE3.Identity()
MLhand_offset.translation = np.matrix(lArmOffset).T
MLhand_offset.translation = np.array(lArmOffset)
dict_offset = {rfoot: MRsole_offset, lfoot: MLsole_offset, rhand: MRhand_offset, lhand: MLhand_offset}
dict_normal = {rfoot: rLegNormal, lfoot: lLegNormal, rhand: rArmNormal, lhand: lArmNormal}
ref_EE_lLeg = np.array([0, 0.0848172440888579, -1.019272022956703])
......
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