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Humanoid Path Planner
talos-rbprm
Commits
f460c7ef
Commit
f460c7ef
authored
Sep 15, 2020
by
Pierre Fernbach
Committed by
Pierre Fernbach
Jun 22, 2021
Browse files
Add optionnal argument disableEffectorCollision in loadAllLimbs
parent
d7593082
Changes
1
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Inline
Side-by-side
talos_rbprm/talos.py
View file @
f460c7ef
...
...
@@ -444,7 +444,7 @@ class Robot(Parent):
self
.
joint6R_bounds_prev
=
self
.
getJointBounds
(
'leg_right_6_joint'
)
self
.
joint2R_bounds_prev
=
self
.
getJointBounds
(
'leg_right_2_joint'
)
def
loadAllLimbs
(
self
,
heuristic
,
analysis
=
None
,
nbSamples
=
nbSamples
,
octreeSize
=
octreeSize
):
def
loadAllLimbs
(
self
,
heuristic
,
analysis
=
None
,
nbSamples
=
nbSamples
,
octreeSize
=
octreeSize
,
disableEffectorCollision
=
False
):
for
id
in
self
.
limbs_names
:
eff
=
self
.
dict_limb_joint
[
id
]
self
.
addLimb
(
id
,
...
...
@@ -460,7 +460,8 @@ class Robot(Parent):
self
.
cType
,
kinematicConstraintsPath
=
self
.
kinematicConstraintsPath
+
self
.
dict_limb_rootJoint
[
id
]
+
"_com_constraints.obj"
,
kinematicConstraintsMin
=
self
.
minDist
)
kinematicConstraintsMin
=
self
.
minDist
,
disableEffectorCollision
=
disableEffectorCollision
)
if
analysis
:
self
.
runLimbSampleAnalysis
(
id
,
analysis
,
True
)
...
...
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