Merge pull request #6 from francois-keith/master

Add gripper frames and correct the initialization of the hand frames

src/dynamic_graph/sot/dynamics/humanoid_robot.py

@@ -296,21 +296,18 @@ class AbstractHumanoidRobot (object):
         # --- additional frames ---
         self.frames = dict()
         frameName = 'rightHand'
-        hp = self.dynamic.getHandParameter (True)
-        transformation = list (map (list, I4))
-        for i in range (3): transformation [i][3] = hp [i][3]
-        transformation = tuple (map (tuple, transformation))
         self.frames [frameName] = self.createFrame (
             "{0}_{1}".format (self.name, frameName),
-            transformation, "right-wrist")
+            self.dynamic.getHandParameter (True), "right-wrist")
+        # rightGripper is an alias for the rightHand:
+        self.frames ['rightGripper'] = self.frames [frameName]
+
         frameName = 'leftHand'
-        hp = self.dynamic.getHandParameter (False)
-        transformation = list (map (list, I4))
-        for i in range (3): transformation [i][3] = hp [i][3]
-        transformation = tuple (map (tuple, transformation))
         self.frames [frameName] = self.createFrame (
             "{0}_{1}".format (self.name, frameName),
             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:
             self.frames[frameName] = self.createFrame(

src/sot-dynamic.cpp

@@ -436,7 +436,7 @@ Dynamic( const std::string & name, bool build )
       "    Get geometric parameters of hand.\n"
       "    \n"
       "      Input\n"
-      "        - a boolean: whether right foot or not,\n"
+      "        - a boolean: whether right hand or not,\n"
       "      Return\n"
       "        - a matrix 4 by 4 the columns of which respectively represent\n"
       "          - the thumb axis,\n"