Commit 1523941b authored by Aurelie Clodic's avatar Aurelie Clodic
Browse files

Add jointMap to store special joints mapping

(same data will be used for dynamic model creation and pg creation)
parent d91ac2d1
......@@ -33,6 +33,9 @@ class Robot (AbstractHumanoidRobot):
1.5, -0.6, 0.5, 1.05, -0.4, -0.3, -0.2, # Right arm
)
jointMap = { }
jointMap['BODY'] = 'body'
def __init__(self, name,
device = None,
tracer = None):
......@@ -47,7 +50,8 @@ class Robot (AbstractHumanoidRobot):
# correct the name of the body link
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
self.dynamic.addJointMapping('BODY', 'body')
for i in self.jointMap:
self.dynamic.addJointMapping(i, self.jointMap[i])
self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
# complete feet position (TODO: move it into srdf file)
......
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