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Stack Of Tasks
sot-torque-control
Commits
4a97e0ba
Commit
4a97e0ba
authored
Mar 13, 2020
by
Guilhem Saurel
Browse files
fix sot-dynamic-pinocchio lib use
parent
d2842f60
Changes
1
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python/dynamic_graph/sot/torque_control/tests/test_torque_offset_estimator.py.in
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4a97e0ba
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@@ -51,13 +51,13 @@ initialConfig = (0., 0., 0.648702, 0., 0. , 0., # Free flyer
#-----------------------------------------------------------------------------
from pinocchio.robot_wrapper import RobotWrapper
import pinocchio as se3
from dynamic_graph.sot.dynamic
s
_pinocchio import fromSotToPinocchio
from dynamic_graph.sot.dynamic_pinocchio import fromSotToPinocchio
pinocchioRobot = RobotWrapper(urdfPath, urdfDir, se3.JointModelFreeFlyer())
pinocchioRobot.initDisplay(loadModel=True)
pinocchioRobot.display(fromSotToPinocchio(initialConfig))
from dynamic_graph.sot.dynamic
s
_pinocchio.humanoid_robot import HumanoidRobot
from dynamic_graph.sot.dynamic_pinocchio.humanoid_robot import HumanoidRobot
robot = HumanoidRobot(robotName, pinocchioRobot.model,
pinocchioRobot.data, initialConfig, OperationalPointsMap)
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