Commit 10413116 authored by Francois Keith's avatar Francois Keith
Browse files

Add leftGripper and rightGripper, aliases for the hands. Fixes #5

More REP120-friendly.
parent 65ba2c60
...@@ -299,11 +299,15 @@ class AbstractHumanoidRobot (object): ...@@ -299,11 +299,15 @@ class AbstractHumanoidRobot (object):
self.frames [frameName] = self.createFrame ( self.frames [frameName] = self.createFrame (
"{0}_{1}".format (self.name, frameName), "{0}_{1}".format (self.name, frameName),
self.dynamic.getHandParameter (True), "right-wrist") self.dynamic.getHandParameter (True), "right-wrist")
# rightGripper is an alias for the rightHand:
self.frames ['rightGripper'] = self.frames [frameName]
frameName = 'leftHand' frameName = 'leftHand'
self.frames [frameName] = self.createFrame ( self.frames [frameName] = self.createFrame (
"{0}_{1}".format (self.name, frameName), "{0}_{1}".format (self.name, frameName),
self.dynamic.getHandParameter (False), "left-wrist") self.dynamic.getHandParameter (False), "left-wrist")
# leftGripper is an alias for the leftHand:
self.frames ["leftGripper"] = self.frames [frameName]
for (frameName, transformation, signalName) in self.AdditionalFrames: for (frameName, transformation, signalName) in self.AdditionalFrames:
self.frames[frameName] = self.createFrame( self.frames[frameName] = self.createFrame(
......
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