Commit bc2403a1 authored by Francois Keith's avatar Francois Keith
Browse files

Clean romeo script.

Remove rviz,
Better loading of the solver.
parent 92e882d0
......@@ -22,18 +22,13 @@ from numpy import *
from dynamic_graph.sot.romeo.robot import *
robot = Robot('romeo', device=RobotSimu('romeo'))
plug(robot.device.state, robot.dynamic.position)
# Binds with ROS. assert that roscore is running.
from dynamic_graph.ros import *
ros = Ros(robot)
# Create a simple kinematic solver.
from dynamic_graph.sot.application.velocity.precomputed_tasks import initialize
# Alternate visualization tool
from dynamic_graph.sot.core.utils.viewer_helper import addRobotViewer
addRobotViewer(robot.device,small=True,small_extra=24,verbose=False)
solver = initialize ( robot )
#-------------------------------------------------------------------------------
#----- MAIN LOOP ---------------------------------------------------------------
......
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