7 from .
import pinocchio_pywrap_default
as pin
8 from .robot_wrapper
import RobotWrapper
12 def __init__(self, filename, package_dirs=None, verbose=False):
15 package_dirs=package_dirs,
16 root_joint=pin.JointModelFreeFlyer(),
70 self.__dict__[op] = self.
index(name)
75 return self.position(q, self.rh)
78 return self.jacobian(q, self.rh)
81 return pin.jacobian(self.
model, self.
data, self.rh, q,
False)
87 return self.jacobian(q, self.lh)
90 return self.position(q, self.lh)
93 return self.jacobian(q, self.lf)
96 return self.position(q, self.lf)
99 return self.jacobian(q, self.rf)
102 return self.position(q, self.rf)
105 __all__ = [
"RomeoWrapper"]