Read joint limits and sensor positions from urdf file rather than from hrp2_common.hh

stack-of-tasks / sot-torque-control

Collection of dynamic-graph entities aimed at implementing torque control on different robots.

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Read joint limits and sensor positions from urdf file rather than from hrp2_common.hh #14

Closed andreadelprete closed 6 years ago

andreadelprete commented 7 years ago

A lot of robot-related information is currently read from the header file hrp2-common.hh, such as joint limits and position of IMU and force/torque sensors in local reference frame. This information could be actually read from the urdf file, so that it would be easier to use the code with a different robot.

andreadelprete commented 7 years ago

This issue is kind-of addressed by the work of Olivier Stasse in its fork of sot-torque-control, which is currently under test, but will be soon merged in this repository

olivier-stasse commented 6 years ago

Fixed #14 by commit c3ca99841e67e00480c40e2b4fcded00aade0dd1