Unverified Commit ee12d104 authored by Fernbach Pierre's avatar Fernbach Pierre Committed by GitHub
Browse files

Merge pull request #10 from JasonChmn/devel

Add parameter for context in talos and talos_abstract
parents 08874d37 7daeea2b
......@@ -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')
......
......@@ -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:
......
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