Commit 5693aa3f authored by Guilhem Saurel's avatar Guilhem Saurel

Merge tag 'v2.1.1'

Release of version 2.1.1.
parents 19496ce2 04f51fd5
Pipeline #3410 passed with stage
in 5 minutes and 51 seconds
include: http://rainboard.laas.fr/project/sot-hrp2/.gitlab-ci.yml
Subproject commit 2a03b5bf12ff198b7bc97d45c39a531db54c3a58
Subproject commit e3853d4514351a2f3e5e67f6ecd963fce5ae5ef5
......@@ -19,14 +19,15 @@ 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-hrp2)
SET(PROJECT_DESCRIPTION "dynamic-graph package for HRP-2 robot")
SET(PROJECT_URL "http://github.com/laas/sot-hrp2")
SET(PROJECT_URL "http://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME}")
SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")
SET(PROJECT_SUFFIX "-v3")
SET(CXX_DISABLE_WERROR True)
......@@ -72,4 +73,3 @@ ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(tests)
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()
sot-hrp2
===========
[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/sot-hrp2/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/sot-hrp2/commits/master)
[![Coverage report](https://gepgitlab.laas.fr/stack-of-tasks/sot-hrp2/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-hrp2/master/coverage/)
This packages provides a generic Stack Of Tasks library
for the humanoid robot HRP2. This library is highly
portable and can be used in various simulators, and
......@@ -23,4 +27,4 @@ be deleted to reconfigure a package from scratch.
To use:
=======
To embed this library an example is provided in:
sot/core/tools/test_abstract_interface.cpp
sot/core/tools/test_abstract_interface.cpp
Subproject commit c8ae5972e825bc27bf978f142b81915df19fef70
Subproject commit 0459e4dd1170dd3a0a54f6ce9bc8e4d5eb9ed37e
......@@ -99,7 +99,7 @@ class Hrp2(AbstractHumanoidRobot):
rospack = RosPack()
self.urdfPath = rospack.get_path('hrp2_{0}_description'.format(robotnumber)) + '/urdf/hrp2_{0}.urdf'.format(robotnumber)
self.urdfPath = rospack.get_path('hrp2_{0}_description'.format(robotnumber)) + '/urdf/hrp2_{0}_reduced.urdf'.format(robotnumber)
self.pinocchioModel = se3.buildModelFromUrdf(self.urdfPath, se3.JointModelFreeFlyer())
self.pinocchioData = self.pinocchioModel.createData()
......
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