Commit 4a97e0ba authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

fix sot-dynamic-pinocchio lib use

parent d2842f60
......@@ -51,13 +51,13 @@ initialConfig = (0., 0., 0.648702, 0., 0. , 0., # Free flyer
#-----------------------------------------------------------------------------
from pinocchio.robot_wrapper import RobotWrapper
import pinocchio as se3
from dynamic_graph.sot.dynamics_pinocchio import fromSotToPinocchio
from dynamic_graph.sot.dynamic_pinocchio import fromSotToPinocchio
pinocchioRobot = RobotWrapper(urdfPath, urdfDir, se3.JointModelFreeFlyer())
pinocchioRobot.initDisplay(loadModel=True)
pinocchioRobot.display(fromSotToPinocchio(initialConfig))
from dynamic_graph.sot.dynamics_pinocchio.humanoid_robot import HumanoidRobot
from dynamic_graph.sot.dynamic_pinocchio.humanoid_robot import HumanoidRobot
robot = HumanoidRobot(robotName, pinocchioRobot.model,
pinocchioRobot.data, initialConfig, OperationalPointsMap)
......
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