Commit ff22b3eb authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

fix sot-dynamic-pinocchio lib use

parent 4f6a2619
Pipeline #8666 failed with stage
in 2 minutes and 10 seconds
......@@ -19,7 +19,7 @@ from __future__ import print_function
import numpy as np
#Don't change this order
from dynamic_graph.sot.dynamics_pinocchio.humanoid_robot import AbstractHumanoidRobot
from dynamic_graph.sot.dynamic_pinocchio.humanoid_robot import AbstractHumanoidRobot
from dynamic_graph.ros import RosRobotModel
import pinocchio as se3
from rospkg import RosPack
......@@ -67,13 +67,13 @@ class Hrp2(AbstractHumanoidRobot):
def __init__(self, name, robotnumber,
device = None, tracer = None):
AbstractHumanoidRobot.__init__ (self, name, tracer)
self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest')
self.device = device
self.AdditionalFrames.append(
("accelerometer",
matrixToTuple(self.accelerometerPosition), "chest"))
......@@ -96,7 +96,7 @@ 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}_reduced.urdf'.format(robotnumber)
......
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