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Stack Of Tasks
sot-hrp2
Commits
2e4c82da
Commit
2e4c82da
authored
Mar 12, 2015
by
olivier stasse
Browse files
Merge pull request #11 from mehdi-benallegue/master
Enable to plug the velocity from the device entity to dynamic.
parents
357b1467
9c2bacd7
Changes
1
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src/dynamic_graph/sot/hrp2/hrp2.py
View file @
2e4c82da
...
...
@@ -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
()
...
...
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