Commit 4e9c2744 authored by Guilhem Saurel's avatar Guilhem Saurel

[Python] talos arm doesn't fly

parent e93a65ed
......@@ -3,6 +3,7 @@ import warnings
from os.path import dirname, exists, join
import numpy as np
import pinocchio as pin
from pinocchio.robot_wrapper import RobotWrapper
......@@ -92,7 +93,7 @@ def loadTalos(legs=False, arm=False):
URDF_FILENAME = "talos_left_arm.urdf" if arm else "talos_reduced.urdf"
SRDF_FILENAME = "talos.srdf"
robot = robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME, free_flyer=True)
robot = robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME, free_flyer=not arm)
assert (robot.model.armature[:6] == 0.).all()
......
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