From d15b1d97af4bb23b305372b54f0f854bf0fac0f0 Mon Sep 17 00:00:00 2001
From: manx52 <jonathanspraggett@gmail.com>
Date: Tue, 27 Aug 2024 18:09:10 -0400
Subject: [PATCH] fixed req

---
 requirements.txt                                       |  2 +-
 .../soccer_pycontrol/src/soccer_pycontrol/main.py      | 10 +++++-----
 .../src/soccer_pycontrol/model/model_ros/bez_ros.py    |  2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index 2f19a379d..b9a111f7e 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -19,7 +19,7 @@ pygame~=2.5.0
 ultralytics~=8.2.82
 
 # Control
-pinocchio==0.4.3
+pin==2.7.0
 placo~=0.6.2
 pybullet~=3.2.5
 mujoco~=3.2.0
diff --git a/soccer_control/soccer_pycontrol/src/soccer_pycontrol/main.py b/soccer_control/soccer_pycontrol/src/soccer_pycontrol/main.py
index ae6fb927a..fe7945740 100755
--- a/soccer_control/soccer_pycontrol/src/soccer_pycontrol/main.py
+++ b/soccer_control/soccer_pycontrol/src/soccer_pycontrol/main.py
@@ -2,7 +2,7 @@
 
 import psutil
 from soccer_pycontrol.model.model_ros.bez_ros import BezROS
-from soccer_pycontrol.walk_engine.walk_engine_ros.walk_engine_ros import WalkEngineROS
+from soccer_pycontrol.walk_engine.walk_engine_ros.walk_engine_ros import WalkEngineRos
 
 pid = psutil.Process()
 try:
@@ -23,11 +23,11 @@
 if __name__ == "__main__":
     rospy.init_node("soccer_control")
     rospy.loginfo("Initializing Soccer Control")
-    bez = BezROS()
-    walker = WalkEngineROS(bez)
-    # walker = NavigatorRos()
+    ns = "/robot1/"
+    bez = BezROS(ns=ns)
+    walker = WalkEngineRos(bez)
     rospy.loginfo("Starting Control Loop")
     try:
-        walker.run()
+        walker.walk(d_x=0.00, t_goal=10)
     except rospy.exceptions.ROSException as ex:
         exit(0)
diff --git a/soccer_control/soccer_pycontrol/src/soccer_pycontrol/model/model_ros/bez_ros.py b/soccer_control/soccer_pycontrol/src/soccer_pycontrol/model/model_ros/bez_ros.py
index c967e239a..e2e27be0b 100644
--- a/soccer_control/soccer_pycontrol/src/soccer_pycontrol/model/model_ros/bez_ros.py
+++ b/soccer_control/soccer_pycontrol/src/soccer_pycontrol/model/model_ros/bez_ros.py
@@ -12,7 +12,7 @@
 class BezROS(Bez):
     def __init__(self, ns: str = ""):
         self.ns = ns
-        self.robot_model = rospy.get_param("robot_model", "bez2")
+        self.robot_model = rospy.get_param("robot_model", "bez1")
         if rospy.get_param("/use_sim_time", False):
             sim = "_sim"
         else: