From 65ba2c604094a8a47ea0b927e47b6c2bd688b8c7 Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Thu, 12 Dec 2013 18:51:13 +0100
Subject: [PATCH] Correct the creation of the hand frames.
The rightHand info was always the identity matrix.
Directly use the getHandParameter and remove
unnecessary intermediate operations.
---
src/dynamic_graph/sot/dynamics/humanoid_robot.py | 11 ++---------
1 file changed, 2 insertions(+), 9 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index ce5e23f..82ca319 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -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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