Commit c559bff2 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Fix dependency and call mistakes.

parent 54631453
......@@ -48,7 +48,7 @@ ADD_OPTIONAL_DEPENDENCY("hrp2-14 >= 1.8-6")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-dynamic >= 3.1")
ADD_REQUIRED_DEPENDENCY("sot-dynamic-pinocchio >= 3.1")
ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("dynamic_graph_bridge_msgs")
......
......@@ -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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