Commit bc1c2771 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Upgrade to pinocchio 2.6.

parent 5e6c8ff7
......@@ -2,7 +2,7 @@
from pinocchio.utils import *
from pinocchio.explog import exp,log
from numpy.linalg import pinv,norm
from pinocchio import se3ToXYZQUATtuple
from pinocchio import SE3ToXYZQUATtuple
import gepetto.corbaserver
# Example of a class Display that connect to Gepetto-viewer and implement a
......@@ -56,6 +56,6 @@ class Display():
the layout. If multiple objects have to be placed at the same time, do the refresh
only at the end of the list.
self.viewer.gui.applyConfiguration(objName, se3ToXYZQUATtuple(M))
self.viewer.gui.applyConfiguration(objName, SE3ToXYZQUATtuple(M))
if refresh: self.viewer.gui.refresh()
......@@ -12,10 +12,9 @@ robot = Robot()
# Move the robot during 10secs at velocity v.
v = np.matrix ([robot.model.nv * [0]]).transpose ()
dt = 1e-3
for j in range (robot.model.nv):
v = np.matrix ([robot.model.nv * [0]]).transpose ()
v = np.array (robot.model.nv * [0])
v [j] = 1
q = neutral (robot.model)
for i in range(1000):
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