Commit f842520b authored by Olivier Stasse's avatar Olivier Stasse Committed by olivier stasse

[python] Remove hard-coded timeStep and get it from Device

Related to PR #75 on sot-core
parent d36c4904
......@@ -144,10 +144,6 @@ class AbstractHumanoidRobot (object):
'device': ['zmp', 'control', 'state']
}
"""
Robot timestep
"""
self.timeStep = 0.005
def help (self):
print (AbstractHumanoidRobot.__doc__)
......@@ -238,6 +234,10 @@ class AbstractHumanoidRobot (object):
if not self.device:
self.device = RobotSimu(self.name + '_device')
"""
Robot timestep
"""
self.timeStep = self.device.getTimeStep()
# Freeflyer reference frame should be the same as global
# frame so that operational point positions correspond to
......
......@@ -172,5 +172,4 @@ if 'argv' in sys.__dict__:
raise RuntimeError (
"invalid robot name (should by Hrp2Laas or Hrp2Jrl)")
robot = robots[options.robot]("robot")
timeStep = .005
solver = Solver(robot)
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