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test leg

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FeedAFish 2022-02-07 16:25:48 +01:00
parent ae58d03509
commit 3b889f0b42
1 changed files with 2 additions and 2 deletions
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Code/robotleg.py
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@ -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())