Merge branch 'master' into devel

stack-of-tasks · Mar 4, 2019 · 25d87d2 · 25d87d2
2 parents 8087ec7 + 66bf388
commit 25d87d2
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -40,7 +40,7 @@ SETUP_PROJECT()
 
 # Search for dependencies.
 
-ADD_REQUIRED_DEPENDENCY("pinocchio")
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0")
 
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-core >= 4.0.0")

diff --git a/src/dynamic_graph/sot/talos/talos.py b/src/dynamic_graph/sot/talos/talos.py
@@ -87,7 +87,8 @@ def __init__(self, name, initialConfig, device = None, tracer = None):
         from pinocchio.robot_wrapper import RobotWrapper
         import pinocchio as se3
         from dynamic_graph.sot.dynamics_pinocchio import fromSotToPinocchio
-        pinocchioRobot = RobotWrapper(urdfPath, urdfDir, se3.JointModelFreeFlyer())
+        pinocchioRobot = RobotWrapper()
+        pinocchioRobot.initFromURDF(urdfPath, urdfDir, se3.JointModelFreeFlyer())
         self.pinocchioModel = pinocchioRobot.model
         self.pinocchioData = pinocchioRobot.data