Connect q and qRef to ThermoEstimator to estimate joint torque from e…

…rror
fkanehiro · Oct 2, 2014 · 3b69a86 · 3b69a86
1 parent 9898518
commit 3b69a86
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/python/hrpsys_config.py b/python/hrpsys_config.py
@@ -334,6 +334,8 @@ def connectComps(self):
 
  # connection for te
  if self.te:
+ connectPorts(self.rh.port("q"), self.te.port("qCurrentIn"))
+ connectPorts(self.sh.port("qOut"), self.te.port("qRefIn"))
  if self.tf:
  connectPorts(self.tf.port("tauOut"), self.te.port("tauIn"))
  else: