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Stack Of Tasks
sot-hrp2
Commits
183bfcd9
Commit
183bfcd9
authored
Aug 25, 2016
by
Rohan Budhiraja
Browse files
[python] Edit Class HRP2 to conform to sot-dynamic API changes
parent
6699b4bd
Changes
1
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src/dynamic_graph/sot/hrp2/hrp2.py
View file @
183bfcd9
...
...
@@ -21,7 +21,7 @@ import numpy as np
#Don't change this order
from
dynamic_graph.sot.dynamics.humanoid_robot
import
AbstractHumanoidRobot
from
dynamic_graph.ros
import
RosRobotModel
import
pinocchio
as
se3
from
rospkg
import
RosPack
...
...
@@ -66,8 +66,7 @@ class Hrp2(AbstractHumanoidRobot):
return
res
def
__init__
(
self
,
name
,
robotnumber
,
device
=
None
,
tracer
=
None
):
device
=
None
,
tracer
=
None
):
AbstractHumanoidRobot
.
__init__
(
self
,
name
,
tracer
)
...
...
@@ -97,12 +96,15 @@ class Hrp2(AbstractHumanoidRobot):
self
.
dynamic
=
RosRobotModel
(
"{0}_dynamic"
.
format
(
name
))
rospack
=
RosPack
()
self
.
urdfPath
=
rospack
.
get_path
(
'hrp2_{0}_description'
.
format
(
robotnumber
))
+
'/urdf/hrp2_{0}.urdf'
.
format
(
robotnumber
)
self
.
dynamic
.
loadUrdf
(
self
.
urdfPath
)
self
.
pinocchioModel
=
se3
.
buildModelFromUrdf
(
self
.
urdfPath
,
se3
.
JointModelFreeFlyer
())
self
.
pinocchioData
=
self
.
pinocchioModel
.
createData
()
self
.
dynamic
.
setModel
(
self
.
pinocchioModel
)
self
.
dynamic
.
setData
(
self
.
pinocchioData
)
self
.
dimension
=
self
.
dynamic
.
getDimension
()
self
.
dynamic
.
displayModel
()
self
.
plugVelocityFromDevice
=
True
...
...
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