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Guilhem Saurel
sot-hrp2
Commits
5693aa3f
Commit
5693aa3f
authored
Mar 07, 2019
by
Guilhem Saurel
Browse files
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
Changes
6
Pipelines
1
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Inline
Side-by-side
.gitlab-ci.yml
0 → 100644
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5693aa3f
include
:
http://rainboard.laas.fr/project/sot-hrp2/.gitlab-ci.yml
.travis
@
e3853d45
Compare
2a03b5bf
...
e3853d45
Subproject commit
2a03b5bf12ff198b7bc97d45c39a531db54c3a58
Subproject commit
e3853d4514351a2f3e5e67f6ecd963fce5ae5ef5
CMakeLists.txt
View file @
5693aa3f
...
@@ -19,14 +19,15 @@ INCLUDE(cmake/base.cmake)
...
@@ -19,14 +19,15 @@ INCLUDE(cmake/base.cmake)
INCLUDE
(
cmake/boost.cmake
)
INCLUDE
(
cmake/boost.cmake
)
INCLUDE
(
cmake/eigen.cmake
)
INCLUDE
(
cmake/eigen.cmake
)
INCLUDE
(
cmake/lapack.cmake
)
INCLUDE
(
cmake/lapack.cmake
)
INCLUDE
(
cmake/cpack.cmake
)
INCLUDE
(
cmake/ros.cmake
)
INCLUDE
(
cmake/ros.cmake
)
SET
(
PROJECT_NAMESPACE stack-of-tasks
)
SET
(
PROJECT_NAME sot-hrp2
)
SET
(
PROJECT_NAME sot-hrp2
)
SET
(
PROJECT_DESCRIPTION
"dynamic-graph package for HRP-2 robot"
)
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
(
CUSTOM_HEADER_DIR
"
${
PROJECT_NAME
}
"
)
SET
(
PROJECT_SUFFIX
"-v3"
)
SET
(
CXX_DISABLE_WERROR True
)
SET
(
CXX_DISABLE_WERROR True
)
...
@@ -72,4 +73,3 @@ ADD_SUBDIRECTORY(src)
...
@@ -72,4 +73,3 @@ ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY
(
tests
)
ADD_SUBDIRECTORY
(
tests
)
SETUP_PROJECT_FINALIZE
()
SETUP_PROJECT_FINALIZE
()
SETUP_PROJECT_CPACK
()
README.md
View file @
5693aa3f
sot-hrp2
sot-hrp2
===========
===========
[

](https://gepgitlab.laas.fr/stack-of-tasks/sot-hrp2/commits/master)
[

](http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-hrp2/master/coverage/)
This packages provides a generic Stack Of Tasks library
This packages provides a generic Stack Of Tasks library
for the humanoid robot HRP2. This library is highly
for the humanoid robot HRP2. This library is highly
portable and can be used in various simulators, and
portable and can be used in various simulators, and
...
@@ -23,4 +27,4 @@ be deleted to reconfigure a package from scratch.
...
@@ -23,4 +27,4 @@ be deleted to reconfigure a package from scratch.
To use:
To use:
=======
=======
To embed this library an example is provided in:
To embed this library an example is provided in:
sot/core/tools/test_abstract_interface.cpp
sot/core/tools/test_abstract_interface.cpp
cmake
@
0459e4dd
Compare
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...
0459e4dd
Subproject commit
c8ae5972e825bc27bf978f142b81915df19fef70
Subproject commit
0459e4dd1170dd3a0a54f6ce9bc8e4d5eb9ed37e
src/dynamic_graph/sot/hrp2/hrp2.py
View file @
5693aa3f
...
@@ -99,7 +99,7 @@ class Hrp2(AbstractHumanoidRobot):
...
@@ -99,7 +99,7 @@ class Hrp2(AbstractHumanoidRobot):
rospack
=
RosPack
()
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
.
pinocchioModel
=
se3
.
buildModelFromUrdf
(
self
.
urdfPath
,
se3
.
JointModelFreeFlyer
())
self
.
pinocchioData
=
self
.
pinocchioModel
.
createData
()
self
.
pinocchioData
=
self
.
pinocchioModel
.
createData
()
...
...
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