Commit b11daf10 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

update to changes in rbprm-corba rbprmBuilder

parent 26f7d977
......@@ -30,6 +30,7 @@ class Robot (Parent):
urdfNameRom = ['anymal_RFleg_rom','anymal_LHleg_rom','anymal_LFleg_rom','anymal_RHleg_rom']
urdfSuffix = ""
srdfSuffix = ""
name = urdfName
ref_height = 0.465
......@@ -43,12 +44,10 @@ class Robot (Parent):
#ref_EE_lArm = [-0.3, 0.165 , -0.44]
#ref_EE_rArm = [-0.3, -0.165 , -0.44]
def __init__ (self, name = None, load = True):
Parent.__init__ (self,load)
if load:
self.loadModel(self.urdfName, self.urdfNameRom, 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)
self.setReferenceEndEffector('anymal_LFleg_rom',self.ref_EE_lLeg)
self.setReferenceEndEffector('anymal_RFleg_rom',self.ref_EE_rLeg)
self.setReferenceEndEffector('anymal_LHleg_rom',self.ref_EE_lArm)
......
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