From 10413116456d8bc7d19c4437b4ff819b2c242024 Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Thu, 12 Dec 2013 18:51:53 +0100
Subject: [PATCH] Add leftGripper and rightGripper, aliases for the hands.
Fixes #5
More REP120-friendly.
---
src/dynamic_graph/sot/dynamics/humanoid_robot.py | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 82ca319..a4bcc2d 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -299,11 +299,15 @@ class AbstractHumanoidRobot (object):
self.frames [frameName] = self.createFrame (
"{0}_{1}".format (self.name, frameName),
self.dynamic.getHandParameter (True), "right-wrist")
+ # rightGripper is an alias for the rightHand:
+ self.frames ['rightGripper'] = self.frames [frameName]
frameName = 'leftHand'
self.frames [frameName] = self.createFrame (
"{0}_{1}".format (self.name, frameName),
self.dynamic.getHandParameter (False), "left-wrist")
+ # leftGripper is an alias for the leftHand:
+ self.frames ["leftGripper"] = self.frames [frameName]
for (frameName, transformation, signalName) in self.AdditionalFrames:
self.frames[frameName] = self.createFrame(
--
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