From ad0d4d990b73ccb02d085ee6a99e3f61245cca7c Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <proyan@users.noreply.github.com>
Date: Fri, 15 Feb 2019 18:39:02 +0100
Subject: [PATCH] [bugfix on bugfix] so stupid. size of robot.q0 is nq, not nv
---
crocoddyl/robots.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/crocoddyl/robots.py b/crocoddyl/robots.py
index d2a4234d..590d515f 100644
--- a/crocoddyl/robots.py
+++ b/crocoddyl/robots.py
@@ -100,7 +100,7 @@ def loadTalosLegs(modelPath='/opt/openrobots/share'):
# Load SRDF file
- robot.q0=np.matrix(np.resize(robot.q0, robot.model.nv)).T
+ robot.q0=np.matrix(np.resize(robot.q0, robot.model.nq)).T
readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
assert((m2.armature[:6]==0.).all())
--
GitLab