Commit c9618b99 authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

[python] Fix small bug in demo_romeo (getJointId was used instead of getFrameId)

parent af2b5a25
Subproject commit 0ec0f542c02839bcbdf1faa8f5a4559dcf8632ec
Subproject commit e715bf761e97dbcd704adecd03c28d8e195e7811
......@@ -86,14 +86,14 @@ contact_Point[1, :] = [-lyn, lyp, -lyn, lyp]
contactRF =tsid.Contact6d("contact_rfoot", robot, rf_frame_name, contact_Point, contactNormal, mu, fMin, fMax)
contactRF.setKp(kp_contact * np.array(np.ones(6)))
contactRF.setKd(2.0 * np.sqrt(kp_contact) * np.array(np.ones(6)))
H_rf_ref = robot.position(data, robot.model().getJointId(rf_frame_name))
H_rf_ref = robot.position(data, robot.model().getFrameId(rf_frame_name))
contactRF.setReference(H_rf_ref)
invdyn.addRigidContact(contactRF, w_forceReg)
contactLF =tsid.Contact6d("contact_lfoot", robot, lf_frame_name, contact_Point, contactNormal, mu, fMin, fMax)
contactLF.setKp(kp_contact * np.array(np.ones(6)))
contactLF.setKd(2.0 * np.sqrt(kp_contact) * np.array(np.ones(6)))
H_lf_ref = robot.position(data, robot.model().getJointId(lf_frame_name))
H_lf_ref = robot.position(data, robot.model().getFrameId(lf_frame_name))
contactLF.setReference(H_lf_ref)
invdyn.addRigidContact(contactLF, w_forceReg)
......
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