From 87f4f00e87a706f9ad9e04a407053bef76948a33 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@gmail.com>
Date: Wed, 20 May 2020 16:08:00 +0200
Subject: [PATCH] update to changes in rbprm-corba loadFullBodyRobot
---
src/hpp/corbaserver/rbprm/anymal/robot.py | 10 ++++------
1 file changed, 4 insertions(+), 6 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index b89b409..a5eff85 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -23,7 +23,7 @@ import numpy as np
class Robot (Parent):
##
# Information to retrieve urdf and srdf files.
-
+ name = "anymal"
packageName = "anymal_data"
meshPackageName = "anymal_data"
rootJointType = "freeflyer"
@@ -129,12 +129,10 @@ class Robot (Parent):
kneeIds = {"LF":9,"LH":12,"RF":15,"RH":18}
- def __init__ (self, name = None,load = True):
- Parent.__init__ (self,load)
- if load:
- self.loadFullBodyModel(self.urdfName, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix)
- if name != None:
+ def __init__(self, name=None, load=True, client=None, clientRbprm=None):
+ if name is not None:
self.name = name
+ Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
# save original bounds of the urdf for futur reset
self.LF_HAA_bounds = self.getJointBounds('LF_HAA')
self.LF_HFE_bounds = self.getJointBounds('LF_HFE')
--
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