Commit af4c3754 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Add foot force sensors as additional frames.

parent 9f28999a
......@@ -85,6 +85,12 @@ class Hrp2(AbstractHumanoidRobot):
self.AdditionalFrames.append(
("gyrometer",
matrixToTuple(self.gyrometerPosition), "chest"))
self.AdditionalFrames.append(
("leftFootForceSensor",
self.forceSensorInLeftAnkle, "left-ankle"))
self.AdditionalFrames.append(
("rightFootForceSensor",
self.forceSensorInRightAnkle, "right-ankle"))
self.dynamic = self.loadModelFromJrlDynamics(
self.name + '_dynamic',
......
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