Commit f460c7ef authored by Pierre Fernbach's avatar Pierre Fernbach Committed by Pierre Fernbach
Browse files

Add optionnal argument disableEffectorCollision in loadAllLimbs

parent d7593082
...@@ -444,7 +444,7 @@ class Robot(Parent): ...@@ -444,7 +444,7 @@ class Robot(Parent):
self.joint6R_bounds_prev = self.getJointBounds('leg_right_6_joint') self.joint6R_bounds_prev = self.getJointBounds('leg_right_6_joint')
self.joint2R_bounds_prev = self.getJointBounds('leg_right_2_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: for id in self.limbs_names:
eff = self.dict_limb_joint[id] eff = self.dict_limb_joint[id]
self.addLimb(id, self.addLimb(id,
...@@ -460,7 +460,8 @@ class Robot(Parent): ...@@ -460,7 +460,8 @@ class Robot(Parent):
self.cType, self.cType,
kinematicConstraintsPath=self.kinematicConstraintsPath + self.dict_limb_rootJoint[id] + kinematicConstraintsPath=self.kinematicConstraintsPath + self.dict_limb_rootJoint[id] +
"_com_constraints.obj", "_com_constraints.obj",
kinematicConstraintsMin=self.minDist) kinematicConstraintsMin=self.minDist,
disableEffectorCollision=disableEffectorCollision)
if analysis: if analysis:
self.runLimbSampleAnalysis(id, analysis, True) self.runLimbSampleAnalysis(id, analysis, True)
......
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