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Humanoid Path Planner
talos-rbprm
Commits
b7e65f9e
Commit
b7e65f9e
authored
May 20, 2020
by
Pierre Fernbach
Browse files
update to changes in rbprm-corba rbprmBuilder
parent
f4fe401b
Changes
1
Hide whitespace changes
Inline
Side-by-side
talos_rbprm/talos_abstract.py
View file @
b7e65f9e
...
...
@@ -8,6 +8,7 @@ from hpp.corbaserver.rbprm.rbprmbuilder import Builder as Parent
class
Robot
(
Parent
):
##
# Information to retrieve urdf and srdf files.
name
=
"talos_trunk"
rootJointType
=
'freeflyer'
packageName
=
'talos-rbprm'
meshPackageName
=
'talos-rbprm'
...
...
@@ -35,12 +36,9 @@ class Robot(Parent):
ref_EE_rArm
=
[
0.13028765672452458
,
-
0.44360498616312666
,
-
0.2881211563246389
]
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
,
client
=
client
)
if
name
is
not
None
:
self
.
name
=
name
Parent
.
__init__
(
self
,
self
.
name
,
self
.
rootJointType
,
load
,
client
,
None
,
clientRbprm
)
if
'talos_lleg_rom'
in
self
.
urdfNameRom
:
self
.
setReferenceEndEffector
(
'talos_lleg_rom'
,
self
.
ref_EE_lLeg
)
if
'talos_rleg_rom'
in
self
.
urdfNameRom
:
...
...
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