From 4e9c2744aad370d94de0e33b8a3380d7098f92e7 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 29 Jul 2020 18:42:31 +0200
Subject: [PATCH] [Python] talos arm doesn't fly
---
python/example_robot_data/robots_loader.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 298e41b..630fa9c 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -3,6 +3,7 @@ import warnings
from os.path import dirname, exists, join
import numpy as np
+
import pinocchio as pin
from pinocchio.robot_wrapper import RobotWrapper
@@ -92,7 +93,7 @@ def loadTalos(legs=False, arm=False):
URDF_FILENAME = "talos_left_arm.urdf" if arm else "talos_reduced.urdf"
SRDF_FILENAME = "talos.srdf"
- robot = robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME, free_flyer=True)
+ robot = robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME, free_flyer=not arm)
assert (robot.model.armature[:6] == 0.).all()
--
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