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Stack Of Tasks
sot-talos
Commits
bcbf2974
Unverified
Commit
bcbf2974
authored
Mar 07, 2019
by
Guilhem Saurel
Committed by
GitHub
Mar 07, 2019
Browse files
Merge pull request #6 from nim65s/devel
Packaging for the v1.0.6 Release
parents
8087ec7a
c4a85e51
Pipeline
#3370
passed with stage
in 5 minutes and 48 seconds
Changes
3
Pipelines
1
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CMakeLists.txt
View file @
bcbf2974
# Copyright 2016, Thomas Moulard, Olivier Stasse, JRL, CNRS/AIST
#
# This file is part of sot-talos.
# sot-talos is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-talos is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-talos. If not, see <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED
(
VERSION 2.6
)
...
...
@@ -19,12 +7,12 @@ INCLUDE(cmake/base.cmake)
INCLUDE
(
cmake/boost.cmake
)
INCLUDE
(
cmake/eigen.cmake
)
INCLUDE
(
cmake/lapack.cmake
)
INCLUDE
(
cmake/cpack.cmake
)
INCLUDE
(
cmake/ros.cmake
)
SET
(
PROJECT_NAMESPACE stack-of-tasks
)
SET
(
PROJECT_NAME sot-talos
)
SET
(
PROJECT_DESCRIPTION
"dynamic-graph package for Talos robot"
)
SET
(
PROJECT_URL
"http://github.com/
stack-of-tasks/sot-talos
"
)
SET
(
PROJECT_URL
"http://github.com/
${
PROJECT_NAMESPACE
}
/
${
PROJECT_NAME
}
"
)
SET
(
CUSTOM_HEADER_DIR
"
${
PROJECT_NAME
}
"
)
...
...
@@ -40,7 +28,7 @@ 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"
)
...
...
@@ -87,23 +75,23 @@ IF(TALOS_DATA_FOUND)
# Configure files using motions from pyrene-motions package
FOREACH
(
py_filename appli-test-simple-seq-play
)
CONFIGURE_FILE
(
${
PROJECT_SOURCE_DIR
}
/tests/
${
py_filename
}
.py.cmake
${
PROJECT_BINARY_DIR
}
/tests/
${
py_filename
}
.py
)
${
PROJECT_SOURCE_DIR
}
/tests/
${
py_filename
}
.py.cmake
${
PROJECT_BINARY_DIR
}
/tests/
${
py_filename
}
.py
)
INSTALL
(
FILES
${
PROJECT_BINARY_DIR
}
/tests/
${
py_filename
}
.py
DESTINATION
${
CMAKE_INSTALL_PREFIX
}
/share/
${
PROJECT_NAME
}
/tests
)
${
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
)
${
PROJECT_SOURCE_DIR
}
/tests/
${
py_filename
}
.py
DESTINATION
${
CMAKE_INSTALL_PREFIX
}
/share/
${
PROJECT_NAME
}
/tests
)
ENDFOREACH
(
py_filename
)
ENDIF
(
PYRENE_MOTIONS_FOUND
)
...
...
@@ -117,4 +105,3 @@ IF(TALOS_DATA_FOUND)
ENDIF
(
TALOS_DATA_FOUND
)
SETUP_PROJECT_FINALIZE
()
SETUP_PROJECT_CPACK
()
cmake
@
1d9aeca2
Compare
6ccc9f9b
...
1d9aeca2
Subproject commit
6ccc9f9b2a2ff510ae7754c515c72f8e38410447
Subproject commit
1d9aeca25e970d2d967fd5be0fb93fe961db121b
src/dynamic_graph/sot/talos/talos.py
View file @
bcbf2974
...
...
@@ -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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