Commit f4fe401b authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

Update to change of API of rbprm-corba loadFullBodyModel

parent a83dcf7c
......@@ -9,6 +9,7 @@ from pinocchio import SE3
class Robot(Parent):
# Information to retrieve urdf and srdf files.
name = "talos"
packageName = "talos_data"
meshPackageName = "talos_data"
rootJointType = "freeflyer"
......@@ -398,12 +399,10 @@ class Robot(Parent):
kneeIds = {"Left": 10, "Right": 16}
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, client)
if name is not None:
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
# Even though the bound in the urdf is greater than this values,
# the controller do not tolerate values outside of this bounds
self.setJointBounds('leg_left_5_joint', [-1.26, 0.768])
......
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