Commit 0cd333ff authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[romeo_wrapper] Fix q0

parent 5afb0c37
......@@ -12,7 +12,7 @@ class RomeoWrapper(RobotWrapper):
def __init__(self, filename, package_dirs=None, verbose=False):
self.initFromURDF(filename, package_dirs=package_dirs, root_joint=pin.JointModelFreeFlyer(), verbose=verbose)
self.q0 = np.matrix([
self.q0 = np.array([
0, 0, 0.840252, 0, 0, 0, 1, # Free flyer
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # left leg
0, 0, -0.3490658, 0.6981317, -0.3490658, 0, # right leg
......@@ -20,7 +20,9 @@ class RomeoWrapper(RobotWrapper):
1.5, 0.6, -0.5, -1.05, -0.4, -0.3, -0.2, # left arm
0, 0, 0, 0, # head
1.5, -0.6, 0.5, 1.05, -0.4, -0.3, -0.2, # right arm
]).T
])
if pin.getNumpyType()==np.matrix:
self.q0 = np.matrix(self.q0).T
self.opCorrespondances = {"lh": "LWristPitch",
"rh": "RWristPitch",
......
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