Merge pull request #168 from open-dynamic-robot-initiative/fkloss/pin…

…occhio_utils Use Kinematics class from robot_properties_fingers
open-dynamic-robot-initiative · Sep 21, 2023 · 3ab3a24 · 3ab3a24
2 parents 6fd39bf + dca614a
commit 3ab3a24
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Showing 3 changed files with 8 additions and 6 deletions.
diff --git a/demos/demo_trifingerpro_kinematics.py b/demos/demo_trifingerpro_kinematics.py
@@ -7,7 +7,7 @@
 For the computation the `Kinematics` class from the trifinger_simulation
 package is used, so this package needs to be installed.
 For complete documentation of the `Kinematics` class see
-https://open-dynamic-robot-initiative.github.io/trifinger_simulation/api/pinocchio_utils.html
+https://open-dynamic-robot-initiative.github.io/robot_properties_fingers/robot_properties_fingers.html#robot_properties_fingers.Kinematics
 """
 import argparse
 import copy
@@ -16,18 +16,18 @@
 import numpy as np
 from ament_index_python.packages import get_package_share_directory
 
-import trifinger_simulation.finger_types_data
-import trifinger_simulation.pinocchio_utils
-import robot_interfaces
 import robot_fingers
+import robot_interfaces
+import robot_properties_fingers
+import trifinger_simulation.finger_types_data
 
 
 def init_kinematics():
     """Initialise the kinematics calculator for TriFingerPro."""
     robot_properties_path = get_package_share_directory("robot_properties_fingers")
     urdf_file = trifinger_simulation.finger_types_data.get_finger_urdf("trifingerpro")
     finger_urdf_path = os.path.join(robot_properties_path, "urdf", urdf_file)
-    kinematics = trifinger_simulation.pinocchio_utils.Kinematics(
+    kinematics = robot_properties_fingers.Kinematics(
         finger_urdf_path,
         ["finger_tip_link_0", "finger_tip_link_120", "finger_tip_link_240"],
     )

diff --git a/pyproject.toml b/pyproject.toml
@@ -23,6 +23,7 @@ module = [
 
     # our packages
     "robot_interfaces",
+    "robot_properties_fingers",
     "trifinger_cameras.*",
     "trifinger_simulation.*",
     "trifinger_object_tracking.*",

diff --git a/scripts/claw_crane.py b/scripts/claw_crane.py
@@ -12,6 +12,7 @@
 import trifinger_simulation
 
 import robot_fingers
+import robot_properties_fingers
 from robot_fingers.curses import SimpleCursesGUI
 
 
@@ -22,7 +23,7 @@ def loop(win, args):
     robot_properties_path = get_package_share_directory("robot_properties_fingers")
     urdf_file = trifinger_simulation.finger_types_data.get_finger_urdf("trifingerpro")
     finger_urdf_path = os.path.join(robot_properties_path, "urdf", urdf_file)
-    kinematics = trifinger_simulation.pinocchio_utils.Kinematics(
+    kinematics = robot_properties_fingers.Kinematics(
         finger_urdf_path,
         ["finger_tip_link_0", "finger_tip_link_120", "finger_tip_link_240"],
     )