From bc2403a12fa329ee2fadafb5f35281c49a7d3e43 Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Mon, 23 Sep 2013 14:59:28 +0200
Subject: [PATCH] Clean romeo script.
Remove rviz,
Better loading of the solver.
---
python/kine_romeo.py | 7 +------
1 file changed, 1 insertion(+), 6 deletions(-)
diff --git a/python/kine_romeo.py b/python/kine_romeo.py
index ba2ecad..de0a614 100644
--- a/python/kine_romeo.py
+++ b/python/kine_romeo.py
@@ -22,18 +22,13 @@ from numpy import *
from dynamic_graph.sot.romeo.robot import *
robot = Robot('romeo', device=RobotSimu('romeo'))
-plug(robot.device.state, robot.dynamic.position)
-
# Binds with ROS. assert that roscore is running.
from dynamic_graph.ros import *
ros = Ros(robot)
# Create a simple kinematic solver.
from dynamic_graph.sot.application.velocity.precomputed_tasks import initialize
-
-# Alternate visualization tool
-from dynamic_graph.sot.core.utils.viewer_helper import addRobotViewer
-addRobotViewer(robot.device,small=True,small_extra=24,verbose=False)
+solver = initialize ( robot )
#-------------------------------------------------------------------------------
#----- MAIN LOOP ---------------------------------------------------------------
--
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