From 3b889f0b4255348f7d84dbf64699531f6ac4444d Mon Sep 17 00:00:00 2001 From: FeedAFish Date: Mon, 7 Feb 2022 16:25:48 +0100 Subject: [PATCH] test leg --- Code/robotleg.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Code/robotleg.py b/Code/robotleg.py index c893b6c..45d7482 100644 --- a/Code/robotleg.py +++ b/Code/robotleg.py @@ -42,7 +42,7 @@ class Leg: self.visuals.append( Visual('world/' + prefix + 'thigh',jointId,SE3(eye(3),np.array([0., 0., -.5])))) jointName = prefix + "knee_joint" - jointPlacement = SE3(eye(3),np.array( [0, 0, 1.0] )) + jointPlacement = SE3(eye(3),np.array( [0, 0, -1.0] )) joint = JointModelRX() jointId = self.model.addJoint(jointId,joint,jointPlacement,jointName) self.model.appendBodyToJoint(jointId,Inertia.Random(),SE3.Identity()) @@ -52,7 +52,7 @@ class Leg: self.visuals.append( Visual('world/' + prefix + 'tibia',jointId,SE3(eye(3),np.array([0., 0., -.5])))) jointName = prefix + "ankle_joint" - jointPlacement = SE3(eye(3),np.array( [0, 0, 1.0] )) + jointPlacement = SE3(eye(3),np.array( [0, 0, -1.0] )) joint = JointModelRX() jointId = self.model.addJoint(jointId,joint,jointPlacement,jointName) self.model.appendBodyToJoint(jointId,Inertia.Random(),SE3.Identity())