Enable JointLimitator.

9bf77e13 · Thomas Moulard · 4a163b34 · 9bf77e13
Commit 9bf77e13 authored 13 years ago by Thomas Moulard
--- a/src/dynamic_graph/sot/dynamics/solver.py
+++ b/src/dynamic_graph/sot/dynamics/solver.py
@@ -43,11 +43,7 @@ class Solver:
        # and NOT 'sot.control'!

        if robot.device:
-            plug(self.sot.control, robot.device.control)
-
-            #FIXME: should be...
-            # plug(self.jointLimitator.control, robot.device.control)
-
+            plug(self.jointLimitator.control, robot.device.control)
            plug(self.robot.device.state, self.robot.dynamic.position)

    def push(self, taskName):