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Stack Of Tasks
sot-hrp2
Commits
cd02e36f
Commit
cd02e36f
authored
Dec 21, 2016
by
Rohan Budhiraja
Browse files
[python] print kinematic chain AFTER loading the robot
parent
183bfcd9
Changes
3
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cmake
@
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Subproject commit
9965dbcd2a37edbc98707573c05512d838e64c1
0
Subproject commit
c8ae5972e825bc27bf978f142b81915df19fef7
0
src/CMakeLists.txt
View file @
cd02e36f
...
...
@@ -39,27 +39,6 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
)
ENDFUNCTION
()
# Compile plug-ins.
#IF (HRP2_DYNAMICS_FOUND)
# MESSAGE(STATUS "Add dynamic-hrp2_14 plugin")
# COMPILE_PLUGIN(dynamic-hrp2_14 dynamic-hrp2_14.cc DynamicHrp2_14)
# PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2_14 hrp2-dynamics)
#ENDIF()
#IF (HRP2_10_OPTIMIZED_FOUND)
# MESSAGE(STATUS "Add dynamic-hrp2_10 plugin")
# COMPILE_PLUGIN(dynamic-hrp2_10 dynamic-hrp2_10.cc DynamicHrp2_10)
# PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2_10 hrp2-10-optimized)
#ENDIF()
#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
${
CMAKE_CURRENT_SOURCE_DIR
}
/dynamic_graph/sot/hrp2
)
...
...
src/dynamic_graph/sot/hrp2/hrp2.py
View file @
cd02e36f
...
...
@@ -106,10 +106,9 @@ class Hrp2(AbstractHumanoidRobot):
self
.
dynamic
.
setModel
(
self
.
pinocchioModel
)
self
.
dynamic
.
setData
(
self
.
pinocchioData
)
self
.
dimension
=
self
.
dynamic
.
getDimension
()
self
.
dynamic
.
displayModel
()
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
()
self
.
dynamic
.
displayModel
()
__all__
=
[
Hrp2
]
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