Commit 25d87d24 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Merge branch 'master' into devel

parents 8087ec7a 66bf3885
......@@ -40,7 +40,7 @@ SETUP_PROJECT()
# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("pinocchio")
ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 4.0.0")
......
......@@ -87,7 +87,8 @@ class Talos(AbstractHumanoidRobot):
from pinocchio.robot_wrapper import RobotWrapper
import pinocchio as se3
from dynamic_graph.sot.dynamics_pinocchio import fromSotToPinocchio
pinocchioRobot = RobotWrapper(urdfPath, urdfDir, se3.JointModelFreeFlyer())
pinocchioRobot = RobotWrapper()
pinocchioRobot.initFromURDF(urdfPath, urdfDir, se3.JointModelFreeFlyer())
self.pinocchioModel = pinocchioRobot.model
self.pinocchioData = pinocchioRobot.data
......
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