From 9bf77e139f084f3233d72da0662808b5a7d94e97 Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Fri, 27 May 2011 16:38:54 +0200
Subject: [PATCH] Enable JointLimitator.
---
src/dynamic_graph/sot/dynamics/solver.py | 6 +-----
1 file changed, 1 insertion(+), 5 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/solver.py b/src/dynamic_graph/sot/dynamics/solver.py
index 3678c69..1be5988 100644
--- 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):
--
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