[wip/sot-hrp2-v3] Update to 2.0.1

Remove patches which are now in 2.0.1
Detect sot-dynamic-pinocchio
Update hrp2.py and load sot-dynamic-pinocchio which has now a different
namespace than sot-dynamics.

sot-hrp2-v3/Makefile

@@ -2,8 +2,7 @@
 # Created:			Rohan Budhiraja, on Wed. 14th April 2016
 #
 
-VERSION=		2.0.0
-PKGREVISION=		2
+VERSION=		2.0.1
 DISTNAME=		sot-hrp2-v3-${VERSION}
 PKGNAME=		sot-hrp2-v3-${VERSION}
 

sot-hrp2-v3/PLIST

-include/sot-hrp2/config.h
 include/sot-hrp2/config.hh
 include/sot-hrp2/deprecated.hh
 include/sot-hrp2/warning.hh

sot-hrp2-v3/distinfo

-SHA1 (sot-hrp2-v3-2.0.0.tar.gz) = c8e2385252c3b4959ee4f1be721544b66a492468
-RMD160 (sot-hrp2-v3-2.0.0.tar.gz) = 5ba7b88903cb5c92e96445ccce9b30253bedafe1
-Size (sot-hrp2-v3-2.0.0.tar.gz) = 733017 bytes
-SHA1 (patch-aa) = b1bd612b7d437c3f45e12942f401418f74e449ae
-SHA1 (patch-ab) = 04b5c857d81ea0728a5661c19534dc9fe58f47ed
-SHA1 (patch-ac) = 615a1e352a69eb61468ebf4547ceaec2d4eb89bc
+SHA1 (sot-hrp2-v3-2.0.1.tar.gz) = 3db050e4d69e64fd7ac24c48d9d21ac26ae6cbd5
+RMD160 (sot-hrp2-v3-2.0.1.tar.gz) = e43ea0efc2ac7c0eaedf70fcdca9e4488ca838ac
+Size (sot-hrp2-v3-2.0.1.tar.gz) = 771771 bytes

sot-hrp2-v3/patches/patch-aa

-diff --git CMakeLists.txt CMakeLists.txt
-index 48545b5..abed4da 100644
---- CMakeLists.txt
-+++ CMakeLists.txt
-@@ -61,6 +61,7 @@ SEARCH_FOR_EIGEN()
- 
- # Handle rpath necessary to handle ROS multiplace packages
- # libraries inclusion
-+SET(CMAKE_INSTALL_LIBDIR lib)
- SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
- SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
- SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")

sot-hrp2-v3/patches/patch-ab

-diff --git src/dynamic_graph/sot/hrp2/hrp2.py src/dynamic_graph/sot/hrp2/hrp2.py
-index b3506a7..944206c 100644
---- src/dynamic_graph/sot/hrp2/hrp2.py
-+++ src/dynamic_graph/sot/hrp2/hrp2.py
-@@ -21,7 +21,7 @@ import numpy as np
- #Don't change this order
- from dynamic_graph.sot.dynamics.humanoid_robot import AbstractHumanoidRobot
- from dynamic_graph.ros import RosRobotModel
--
-+import pinocchio as se3
- from rospkg import RosPack
- 
- 
-@@ -66,8 +66,7 @@ class Hrp2(AbstractHumanoidRobot):
-         return res
- 
-     def __init__(self, name, robotnumber,
--                 device = None,
--                 tracer = None):
-+                 device = None, tracer = None):
-         
-         AbstractHumanoidRobot.__init__ (self, name, tracer)
- 
-@@ -101,8 +100,11 @@ class Hrp2(AbstractHumanoidRobot):
- 
-         rospack = RosPack()
-         self.urdfPath = rospack.get_path('hrp2_{0}_description'.format(robotnumber)) + '/urdf/hrp2_{0}.urdf'.format(robotnumber)
--        self.dynamic.loadUrdf(self.urdfPath)
- 
-+        self.pinocchioModel = se3.buildModelFromUrdf(self.urdfPath, se3.JointModelFreeFlyer())
-+        self.pinocchioData = self.pinocchioModel.createData()
-+        self.dynamic.setModel(self.pinocchioModel)
-+        self.dynamic.setData(self.pinocchioData)
-         self.dimension = self.dynamic.getDimension()
-         self.dynamic.displayModel()
-         self.plugVelocityFromDevice = True

sot-hrp2-v3/patches/patch-ac

-Use sot-dynamic-pinocchio. Change of package name from sot-dynamic
-
---- CMakeLists.txt	2016-04-14 14:41:27.000000000 +0200
-+++ CMakeLists.txt	2017-02-02 13:39:57.477133197 +0100
-@@ -48,7 +48,7 @@
- 
- ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
- ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
--ADD_REQUIRED_DEPENDENCY("sot-dynamic >= 3.1")
-+ADD_REQUIRED_DEPENDENCY("sot-dynamic-pinocchio >= 3.1")
- ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
- 
- ADD_REQUIRED_DEPENDENCY("dynamic_graph_bridge_msgs")