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Guilhem Saurel
pinocchio
Commits
b280437e
Commit
b280437e
authored
Jun 08, 2017
by
jcarpent
Browse files
[Python] Set joint FreeFlyer as default for RomeoWrapper
parent
070dd404
Changes
1
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Inline
Side-by-side
bindings/python/scripts/romeo_wrapper.py
View file @
b280437e
...
...
@@ -22,8 +22,8 @@ from robot_wrapper import RobotWrapper
class
RomeoWrapper
(
RobotWrapper
):
def
__init__
(
self
,
filename
,
package_dirs
=
None
,
root_joint
=
None
):
RobotWrapper
.
__init__
(
self
,
filename
,
package_dirs
=
package_dirs
,
root_joint
=
root_joint
)
def
__init__
(
self
,
filename
,
package_dirs
=
None
):
RobotWrapper
.
__init__
(
self
,
filename
,
package_dirs
=
package_dirs
,
root_joint
=
se3
.
JointModelFreeFlyer
()
)
self
.
q0
=
np
.
matrix
([
0
,
0
,
0.840252
,
0
,
0
,
0
,
1
,
# Free flyer
0
,
0
,
-
0.3490658
,
0.6981317
,
-
0.3490658
,
0
,
# left leg
...
...
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