Commit e18cd9b2 authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

Replace deprecated pinocchio functions

parent c0751566
Subproject commit b58bd669f6567662eefb8a410e8e40aeba4f1060
Subproject commit 1d9aeca25e970d2d967fd5be0fb93fe961db121b
......@@ -24,7 +24,9 @@ class TsidManipulator:
robot = self.robot
self.model = model = robot.model()
try:
q = se3.getNeutralConfiguration(model, conf.srdf, False)
# q = se3.getNeutralConfiguration(model, conf.srdf, False)
se3.loadReferenceConfigurations(model, conf.srdf, False)
q = model.referenceConfigurations['default']
# q = model.referenceConfigurations["half_sitting"]
except:
q = conf.q0
......@@ -88,7 +90,7 @@ class TsidManipulator:
os.system('gepetto-gui &')
time.sleep(1)
gepetto.corbaserver.Client()
self.robot_display.initDisplay(loadModel=True)
self.robot_display.initViewer(loadModel=True)
self.robot_display.displayCollisions(False)
self.robot_display.displayVisuals(True)
self.robot_display.display(q)
......
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