Commit 87f4f00e authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

update to changes in rbprm-corba loadFullBodyRobot

parent cd11b773
......@@ -23,7 +23,7 @@ import numpy as np
class Robot (Parent):
##
# Information to retrieve urdf and srdf files.
name = "anymal"
packageName = "anymal_data"
meshPackageName = "anymal_data"
rootJointType = "freeflyer"
......@@ -129,12 +129,10 @@ class Robot (Parent):
kneeIds = {"LF":9,"LH":12,"RF":15,"RH":18}
def __init__ (self, name = None,load = True):
Parent.__init__ (self,load)
if load:
self.loadFullBodyModel(self.urdfName, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix)
if name != None:
def __init__(self, name=None, load=True, client=None, clientRbprm=None):
if name is not None:
self.name = name
Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
# save original bounds of the urdf for futur reset
self.LF_HAA_bounds = self.getJointBounds('LF_HAA')
self.LF_HFE_bounds = self.getJointBounds('LF_HFE')
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment