Commit 7e5de6da authored by Francois Keith's avatar Francois Keith
Browse files

Update hrp2_10 controller and prologue.

The solver has been moved into another location.
parent 715408f9
......@@ -15,11 +15,12 @@
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
print("Prologue HRP2-10")
from dynamic_graph.entity import PyEntityFactoryClass
from dynamic_graph.sot.hrp2_10.robot import Robot
# Create the device.
# This entity behaves exactly like robotsimu except:
# 1. it does not provide the increment method
# 1. it does not provide the increment command
# 2. it forwards the robot control to the sot-abstract
# controller.
Device = PyEntityFactoryClass('Device')
......@@ -27,6 +28,7 @@ Device = PyEntityFactoryClass('Device')
# Create the robot using the device.
robot = Robot(name = 'robot', device = Device('HRP2JRL'))
robot.dynamic.com.recompute (0)
_com = robot.dynamic.com.value
robot.device.zmp.value = (_com[0], _com[1], 0.)
......
......@@ -37,7 +37,7 @@ void SoTHRP2_10_Controller::startupPython()
std::ofstream aof(LOG_PYTHON_10.c_str());
runPython
(aof,
"from dynamic_graph.sot.hrp2_10.prologue import robot, solver",
"from dynamic_graph.sot.hrp2_10.prologue import robot",
*interpreter_);
aof.close();
}
......
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