Update for dynamic-graph-python v4

src/dynamic_graph/sot/pyrene/prologue.py

@@ -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