Commit cd02e36f authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[python] print kinematic chain AFTER loading the robot

parent 183bfcd9
Subproject commit 9965dbcd2a37edbc98707573c05512d838e64c10 Subproject commit c8ae5972e825bc27bf978f142b81915df19fef70
...@@ -39,27 +39,6 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES) ...@@ -39,27 +39,6 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
) )
ENDFUNCTION() 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. # Install Python files.
SET(PYTHON_MODULE_DIR SET(PYTHON_MODULE_DIR
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/hrp2) ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/hrp2)
......
...@@ -106,10 +106,9 @@ class Hrp2(AbstractHumanoidRobot): ...@@ -106,10 +106,9 @@ class Hrp2(AbstractHumanoidRobot):
self.dynamic.setModel(self.pinocchioModel) self.dynamic.setModel(self.pinocchioModel)
self.dynamic.setData(self.pinocchioData) self.dynamic.setData(self.pinocchioData)
self.dimension = self.dynamic.getDimension() self.dimension = self.dynamic.getDimension()
self.dynamic.displayModel()
self.plugVelocityFromDevice = True self.plugVelocityFromDevice = True
if self.dimension != len(self.halfSitting): 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)) raise RuntimeError("Dimension of half-sitting: {0} differs from dimension of robot: {1}".format (len(self.halfSitting), self.dimension))
self.initializeRobot() self.initializeRobot()
self.dynamic.displayModel()
__all__ = [Hrp2] __all__ = [Hrp2]
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