Use the urdf file to build the jrl::dynamic model.

Requires the romeo stack.

CMakeLists.txt

@@ -36,9 +36,6 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
 
 SETUP_PROJECT()
 
-# Search for dependencies.
-ADD_REQUIRED_DEPENDENCY("romeo >= 1.1.1")
-
 # Those packages are not directly linked, but are used in the 
 #  python scripts
 ADD_REQUIRED_DEPENDENCY("sot-core >= 2.7")

src/CMakeLists.txt

@@ -17,8 +17,6 @@ INCLUDE(../cmake/python.cmake)
 FINDPYTHON()
 INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
 
-CONFIG_FILES(dynamic_graph/sot/romeo/robot.py)
-
 # Install Python files.
 SET(PYTHON_MODULE_DIR
   ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/romeo)
@@ -28,6 +26,6 @@ SET(PYTHON_MODULE_BUILD_DIR
 SET(PYTHON_MODULE dynamic_graph/sot/romeo)
 PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
 PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "prologue.py" )
-PYTHON_INSTALL_BUILD("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}")
+PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}")
 
 

src/dynamic_graph/sot/romeo/robot.py.in → src/dynamic_graph/sot/romeo/robot.py

@@ -14,69 +14,45 @@
 # received a copy of the GNU Lesser General Public License along with
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 
-from __future__ import print_function
-
-import numpy as np
-from dynamic_graph.sot.core import \
-    FeatureGeneric, FeatureJointLimits, Task, Constraint, GainAdaptive, SOT
-from dynamic_graph.sot.dynamics import AngleEstimator
-from dynamic_graph import enableTrace, plug
-from dynamic_graph.sot.tools.se3 import SE3, R3, SO3
-import numpy as np
-
 from dynamic_graph.sot.dynamics.humanoid_robot import AbstractHumanoidRobot
-from dynamic_graph.sot.dynamics import Dynamic
-
-romeo_pkgdatarootdir = "@ROMEO_PKGDATAROOTDIR@/romeo"
+from dynamic_graph.ros import RosRobotModel
 
+# Sot model for the romeo_small.urdf (with gripper, no fingers)
 class Robot (AbstractHumanoidRobot):
     """
     This class instanciates Aldebaran Romeo robot
     """
     halfSitting = (
-        
         0, 0, 0.840252, 0, 0, 0,                         # Free flyer
         0,                                               # chest
         0, 0, 0, 0,                                      # head
         1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2,         # left arm   
         1.5, -0.6, 0.5, 1.05, -0.4, -0.3, -0.2,          # right arm  
         0, 0, -0.3490658, 0.6981317, -0.3490658, 0, 0,   # left leg   
-        0, 0, -0.3490658, 0.6981317, -0.3490658, 0, 0, ) # right leg  
+        0, 0, -0.3490658, 0.6981317, -0.3490658, 0, 0,   # right leg
+        0, 0 ,0 ,0)                                      # eyes
 
 #    def smallToFull(self, config):
 #        res = (config + 12*(0.,))
 #        return res
 
     def __init__(self, name, 
-                 modelDir = romeo_pkgdatarootdir,
-                 xmlDir = romeo_pkgdatarootdir,
                  device = None,
-                 dynamicType = Dynamic,
                  tracer = None):
         AbstractHumanoidRobot.__init__ (self, name, tracer)
-
         self.OperationalPoints.append('waist')
         self.OperationalPoints.append('chest')
         self.device = device
-        self.modelDir = modelDir
-        self.modelName = 'Romeo.wrl'
-        self.specificitiesPath = xmlDir + '/RomeoSpecificities.xml'
-        self.jointRankPath = xmlDir + '/RomeoLinkJointRank.xml'
 
-        self.dynamic = self.loadModelFromJrlDynamics(
-            self.name + '_dynamic',
-            modelDir,
-            self.modelName,
-            self.specificitiesPath,
-            self.jointRankPath,
-            dynamicType)
+        # correct the name of the body link
+        self.dynamic = RosRobotModel("{0}_dynamic".format(name))
+        self.dynamic.addJointMapping('BODY', 'body')
+        self.dynamic.loadFromParameterServer()
 
         self.dimension = self.dynamic.getDimension()
-        print (self.dimension)
         if self.dimension != len(self.halfSitting):
             raise RuntimeError("invalid half-sitting pose")
         self.initializeRobot()
 
 # TODO: ??
 # __all__ = [Romeo]
-