Commit 9e74d70f authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

[Tests] update for pinocchio

parent d8985092
......@@ -82,7 +82,7 @@ BOOST_AUTO_TEST_CASE ( test_contact_6d )
pinocchio::Data data(robot.model());
robot.computeAllTerms(data, q, v);
pinocchio::SE3 H_ref = robot.position(data, robot.model().getJointId(frameName));
pinocchio::SE3 H_ref = robot.position(data, robot.model().getFrameId(frameName));
contact.setReference(H_ref);
double t = 0.0;
......
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