Commit 2cf8147d authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

update to pinocchio v2: fix RobotWrapper use

parent 6be905af
......@@ -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 >= 3.0.0")
......@@ -94,16 +94,16 @@ IF(TALOS_DATA_FOUND)
${PROJECT_BINARY_DIR}/tests/${py_filename}.py
DESTINATION
${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/tests
)
)
ENDFOREACH(py_filename)
# Install python files starting the application
FOREACH(py_filename test-simple-seq-play )
INSTALL(FILES
${PROJECT_SOURCE_DIR}/tests/${py_filename}.py
DESTINATION
${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/tests
)
)
ENDFOREACH(py_filename)
ENDIF(PYRENE_MOTIONS_FOUND)
ENDIF(TALOS_DATA_FOUND)
......
......@@ -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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