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Commit 849bab23 authored by Gabriele Buondonno's avatar Gabriele Buondonno
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[python] Remove calls to Model.BuildEmptyModels

parent 35f86f22
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...@@ -56,7 +56,7 @@ class Pendulum: ...@@ -56,7 +56,7 @@ class Pendulum:
'''Create a Pinocchio model of a N-pendulum, with N the argument <nbJoint>.''' '''Create a Pinocchio model of a N-pendulum, with N the argument <nbJoint>.'''
self.viewer = Display() self.viewer = Display()
self.visuals = [] self.visuals = []
self.model = se3.Model.BuildEmptyModel() self.model = se3.Model()
self.createPendulum(nbJoint) self.createPendulum(nbJoint)
self.data = self.model.createData() self.data = self.model.createData()
......
...@@ -148,7 +148,7 @@ class Robot(object): ...@@ -148,7 +148,7 @@ class Robot(object):
def __init__(self): def __init__(self):
self.viewer = Display() self.viewer = Display()
self.visuals = [] self.visuals = []
self.model = se3.Model.BuildEmptyModel() self.model = se3.Model()
self.createHand() self.createHand()
self.data = self.model.createData() self.data = self.model.createData()
self.q0 = zero(self.model.nq) self.q0 = zero(self.model.nq)
......
...@@ -39,7 +39,7 @@ class ModelWrapper(object): ...@@ -39,7 +39,7 @@ class ModelWrapper(object):
def __init__(self, name=None, display=False): def __init__(self, name=None, display=False):
self.visuals = [('universe', se3.SE3.Identity(), se3.SE3.Identity().translation)] self.visuals = [('universe', se3.SE3.Identity(), se3.SE3.Identity().translation)]
self.name = self.__class__.__name__ if name is None else name self.name = self.__class__.__name__ if name is None else name
self.model = se3.Model.BuildEmptyModel() self.model = se3.Model()
self.display = display self.display = display
self.add_joints() self.add_joints()
......
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