Commit f53dc54b authored by Guilhem Saurel's avatar Guilhem Saurel

[Python] use np.array, fix #14

parent 0a784b29
......@@ -118,12 +118,12 @@ class Talos(AbstractHumanoidRobot):
# TODO For position limit, we remove the first value to get
# a vector of the good size because SoT use euler angles and not
# quaternions...
self.device.setPositionBounds(self.pinocchioModel.lowerPositionLimit.T.tolist()[0][1:],
self.pinocchioModel.upperPositionLimit.T.tolist()[0][1:])
self.device.setVelocityBounds((-self.pinocchioModel.velocityLimit).T.tolist()[0],
self.pinocchioModel.velocityLimit.T.tolist()[0])
self.device.setTorqueBounds((-self.pinocchioModel.effortLimit).T.tolist()[0],
self.pinocchioModel.effortLimit.T.tolist()[0])
self.device.setPositionBounds(self.pinocchioModel.lowerPositionLimit.tolist()[1:],
self.pinocchioModel.upperPositionLimit.tolist()[1:])
self.device.setVelocityBounds((-self.pinocchioModel.velocityLimit).tolist(),
self.pinocchioModel.velocityLimit.tolist())
self.device.setTorqueBounds((-self.pinocchioModel.effortLimit).tolist(),
self.pinocchioModel.effortLimit.tolist())
self.halfSitting = initialConfig
self.device.set(self.halfSitting)
plug(self.device.state, self.dynamic.position)
......
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