Commit 9e1ac69b authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Update for dynamic-graph-python v4

parent 77b0ade3
......@@ -5,8 +5,10 @@
# required by rospy
import sys
from dynamic_graph.entity import PyEntityFactoryClass
import numpy as np
from dynamic_graph.sot.pyrene.robot import Robot
from dynamic_graph.sot.talos.sot_talos_device import DeviceTalos
if not hasattr(sys, 'argv'):
sys.argv = [
......@@ -25,14 +27,11 @@ def makeRobot():
controller.
"""
DeviceTalos = PyEntityFactoryClass('DeviceTalos')
# Create the robot using the device.
robot = Robot(name='talos', device=DeviceTalos('PYRENE'),
fromRosParam=True)
robot = Robot(name='talos', device=DeviceTalos('PYRENE'), fromRosParam=True)
robot.dynamic.com.recompute(0)
_com = robot.dynamic.com.value
robot.device.zmp.value = (_com[0], _com[1], 0.)
robot.device.zmp.value = np.array((_com[0], _com[1], 0.))
return robot
......
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