Commit 5b00f829 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

use model from example-robot-data

parent 55f8c354
...@@ -13,6 +13,8 @@ INCLUDE(cmake/python.cmake) ...@@ -13,6 +13,8 @@ INCLUDE(cmake/python.cmake)
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX) COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS}) PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
ADD_PROJECT_DEPENDENCY(example-robot-data REQUIRED)
FINDPYTHON() FINDPYTHON()
ADD_LIBRARY(${PROJECT_NAME} INTERFACE) ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
......
...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
# Author: Pierre Fernbach # Author: Pierre Fernbach
import numpy as np import numpy as np
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody as Parent from hpp.corbaserver.rbprm.rbprmfullbody import FullBody as Parent
from pinocchio import SE3 from pinocchio import SE3
...@@ -10,8 +11,8 @@ from pinocchio import SE3 ...@@ -10,8 +11,8 @@ from pinocchio import SE3
class Robot(Parent): class Robot(Parent):
# Information to retrieve urdf and srdf files. # Information to retrieve urdf and srdf files.
name = "talos" name = "talos"
packageName = "talos_data" packageName = "example-robot-data/robots/talos_data"
meshPackageName = "talos_data" meshPackageName = "example-robot-data/robots/talos_data"
rootJointType = "freeflyer" rootJointType = "freeflyer"
urdfName = "talos" urdfName = "talos"
urdfSuffix = "_reduced" urdfSuffix = "_reduced"
...@@ -403,7 +404,7 @@ class Robot(Parent): ...@@ -403,7 +404,7 @@ class Robot(Parent):
self.name = name self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm) Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
# Even though the bound in the urdf is greater than this values, # Even though the bound in the urdf is greater than this values,
# the controller do not tolerate values outside of this bounds # the controller do not tolerate values outside of this bounds
self.setJointBounds('leg_left_5_joint', [-1.26, 0.768]) self.setJointBounds('leg_left_5_joint', [-1.26, 0.768])
self.setJointBounds('leg_right_5_joint', [-1.26, 0.768]) self.setJointBounds('leg_right_5_joint', [-1.26, 0.768])
......
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