(self, base_inertias)
Set the inertias of minitaur's base.

    Args:
      base_inertias: A list of inertias of each body link in CHASIS_LINK_IDS.
        The length of this list should be the same as the length of
        CHASIS_LINK_IDS.

    Raises:
      ValueError: It is raised when the length of base_inertias is not the same
        as the length of self._chassis_link_ids and base_inertias contains
        negative values.
Set the inertias of minitaur's base.
Set the inertias of minitaur s base .
def SetBaseInertias(self, base_inertias):
    """Set the inertias of minitaur's base.

    Args:
      base_inertias: A list of inertias of each body link in CHASIS_LINK_IDS.
        The length of this list should be the same as the length of
        CHASIS_LINK_IDS.

    Raises:
      ValueError: It is raised when the length of base_inertias is not the same
        as the length of self._chassis_link_ids and base_inertias contains
        negative values.
    """
    if len(base_inertias) != len(self._chassis_link_ids):
      raise ValueError(
          "The length of base_inertias {} and self._chassis_link_ids {} are "
          "not the same.".format(len(base_inertias),
                                 len(self._chassis_link_ids)))
    for chassis_id, chassis_inertia in zip(self._chassis_link_ids,
                                           base_inertias):
      for inertia_value in chassis_inertia:
        if (np.asarray(inertia_value) < 0).any():
          raise ValueError("Values in inertia matrix should be non-negative.")
      self._pybullet_client.changeDynamics(
          self.quadruped, chassis_id, localInertiaDiagonal=chassis_inertia)
def SetBaseInertias ( self , base_inertias ) : if len ( base_inertias ) != len ( self . _chassis_link_ids ) : raise ValueError ( "The length of base_inertias {} and self._chassis_link_ids {} are " "not the same." . format ( len ( base_inertias ) , len ( self . _chassis_link_ids ) ) ) for chassis_id , chassis_inertia in zip ( self . _chassis_link_ids , base_inertias ) : for inertia_value in chassis_inertia : if ( np . asarray ( inertia_value ) < 0 ) . any ( ) : raise ValueError ( "Values in inertia matrix should be non-negative." ) self . _pybullet_client . changeDynamics ( self . quadruped , chassis_id , localInertiaDiagonal = chassis_inertia )