Add parameter for context in talos and talos_abstract

talos_rbprm/talos.py

@@ -397,11 +397,11 @@ class Robot(Parent):
 
     kneeIds = {"Left": 10, "Right": 16}
 
-    def __init__(self, name=None, load=True):
-        Parent.__init__(self, load)
+    def __init__(self, name=None, load=True, client=None, clientRbprm=None):
+        Parent.__init__(self, load, clientRbprm)
         if load:
             self.loadFullBodyModel(self.urdfName, self.rootJointType, self.meshPackageName, self.packageName,
-                                   self.urdfSuffix, self.srdfSuffix)
+                                   self.urdfSuffix, self.srdfSuffix, client)
         if name is not None:
             self.name = name
         self.joint1L_bounds_prev = self.getJointBounds('leg_left_1_joint')

talos_rbprm/talos_abstract.py

@@ -34,11 +34,11 @@ class Robot(Parent):
     ref_EE_lArm = [0.13028765672452458, 0.44360498616312666, -0.2881211563246389]
     ref_EE_rArm = [0.13028765672452458, -0.44360498616312666, -0.2881211563246389]
 
-    def __init__(self, name=None, load=True):
-        Parent.__init__(self, load)
+    def __init__(self, name=None, load=True, client=None, clientRbprm=None):
+        Parent.__init__(self, load, clientRbprm)
         if load:
             self.loadModel(self.urdfName, self.urdfNameRom, self.rootJointType, self.meshPackageName, self.packageName,
-                           self.urdfSuffix, self.srdfSuffix)
+                           self.urdfSuffix, self.srdfSuffix, client=client)
         if name is not None:
             self.name = name
         if 'talos_lleg_rom' in self.urdfNameRom: