Merge branch 'master' of github.com:stack-of-tasks/sot-hrp2

CMakeLists.txt

@@ -42,11 +42,11 @@ ADD_REQUIRED_DEPENDENCY("jrl-mathtools")
 ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.9.0")
 
 ADD_REQUIRED_DEPENDENCY("jrl-dynamics >= 1.19.0")
-ADD_REQUIRED_DEPENDENCY("hrp2-dynamics >= 1.5.0")
-ADD_REQUIRED_DEPENDENCY("hrp2-10-optimized >= 1.0.1")
+ADD_OPTIONAL_DEPENDENCY("hrp2-dynamics >= 1.5.0")
+ADD_OPTIONAL_DEPENDENCY("hrp2-10-optimized >= 1.0.1")
 
-ADD_REQUIRED_DEPENDENCY("hrp2-10 >= 1.0.1-10")
-ADD_REQUIRED_DEPENDENCY("hrp2-14 >= 1.8-6")
+ADD_OPTIONAL_DEPENDENCY("hrp2-10 >= 1.0.1-10")
+ADD_OPTIONAL_DEPENDENCY("hrp2-14 >= 1.8-6")
 
 ADD_REQUIRED_DEPENDENCY("dynamic-graph")
 ADD_REQUIRED_DEPENDENCY("sot-core")

src/CMakeLists.txt

@@ -41,14 +41,23 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
 ENDFUNCTION()
 
 # Compile plug-ins.
-COMPILE_PLUGIN(dynamic-hrp2_14 dynamic-hrp2_14.cc DynamicHrp2_14)
-PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2_14 hrp2-dynamics)
+IF (hrp2-dynamics_FOUND)
+  COMPILE_PLUGIN(dynamic-hrp2_14 dynamic-hrp2_14.cc DynamicHrp2_14)
+  PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2_14 hrp2-dynamics)
+ENDIF()
 
-COMPILE_PLUGIN(dynamic-hrp2_10 dynamic-hrp2_10.cc DynamicHrp2_10)
-PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2_10 hrp2-10-optimized)
+IF (hrp2-10-optimized_FOUND)
+  COMPILE_PLUGIN(dynamic-hrp2_10 dynamic-hrp2_10.cc DynamicHrp2_10)
+  PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2_10 hrp2-10-optimized)
+ENDIF()
 
-CONFIG_FILES(dynamic_graph/sot/hrp2_10/robot.py)
-CONFIG_FILES(dynamic_graph/sot/hrp2_14/robot.py)
+IF (hrp2-10-optimized_FOUND)
+  CONFIG_FILES(dynamic_graph/sot/hrp2_10/robot.py)
+ENDIF()
+
+IF (hrp2-dynamics_FOUND)
+  CONFIG_FILES(dynamic_graph/sot/hrp2_14/robot.py)
+ENDIF()
 
 # Install Python files.
 SET(PYTHON_MODULE_DIR
@@ -62,16 +71,20 @@ PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "hrp2.py" )
 SET(FILES __init__.py robot.py)
 
 # Install dynamic_graph.sot.hrp2_14
-SET(PYTHON_MODULE dynamic_graph/sot/hrp2_14)
-PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
-PYTHON_INSTALL_BUILD("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}")
-PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "prologue.py")
+IF (hrp2-dynamics_FOUND)
+  SET(PYTHON_MODULE dynamic_graph/sot/hrp2_14)
+  PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
+  PYTHON_INSTALL_BUILD("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}")
+  PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "prologue.py")
+ENDIF()
 
 # Install dynamic_graph.sot.hrp2_10
-SET(PYTHON_MODULE dynamic_graph/sot/hrp2_10)
-PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
-PYTHON_INSTALL_BUILD("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}")
-PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "prologue.py")
+IF (hrp2-10-optimized_FOUND)
+  SET(PYTHON_MODULE dynamic_graph/sot/hrp2_10)
+  PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
+  PYTHON_INSTALL_BUILD("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}")
+  PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "prologue.py")
+ENDIF()
 
 # Add the library to wrap the device of HRP2.
 MACRO(build_hrp2_device)
@@ -136,6 +149,11 @@ MACRO(build_hrp2_controller robotnumber)
 
 ENDMACRO()
 
-build_hrp2_controller("10")
-build_hrp2_controller("14")
+IF (hrp2-10-optimized_FOUND)
+  build_hrp2_controller("10")
+ENDIF()
+
+IF (hrp2-dynamics_FOUND)
+  build_hrp2_controller("14")
+ENDIF()
 

src/dynamic_graph/sot/hrp2/hrp2.py

@@ -101,6 +101,9 @@ class Hrp2(AbstractHumanoidRobot):
             dynamicType)
 
         self.dimension = self.dynamic.getDimension()
+        
+        self.plugVelocityFromDevice = True
+
         if self.dimension != len(self.halfSitting):
             raise RuntimeError("Dimension of half-sitting: {0} differs from dimension of robot: {1}".format (len(self.halfSitting), self.dimension))
         self.initializeRobot()