Fix a few examples scripts (#2392)

* [unittest] Remove compilation warning from mjcf test * [examples] Remove duplicate line * [examples] Update talos example * [examples] Update closed kinematic example * Update CHANGELOG.md --------- Co-authored-by: Megane Millan <[email protected]>
stack-of-tasks · Aug 27, 2024 · da40f76 · da40f76
1 parent 40570d5
commit da40f76
Show file tree

Hide file tree

Showing 5 changed files with 7 additions and 8 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -14,6 +14,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fixed urdfdom in ROS packaging ([#2341](https://github.com/stack-of-tasks/pinocchio/pull/2341))
 - Fixed overview-urdf cpp example ([#2384](https://github.com/stack-of-tasks/pinocchio/pull/2384))
 - Fixed mjcf model without a base link parsing ([#2386](https://github.com/stack-of-tasks/pinocchio/pull/2386))
+- Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples ([#2392](https://github.com/stack-of-tasks/pinocchio/pull/2392))
 
 ### Added
 - Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint ([#2315](https://github.com/stack-of-tasks/pinocchio/pull/2315))

diff --git a/examples/simulation-closed-kinematic-chains.py b/examples/simulation-closed-kinematic-chains.py
@@ -160,7 +160,7 @@
 t = 0
 mu_sim = 1e-10
 constraint_model.corrector.Kp[:] = 10
-constraint_model.corrector.Kd = 2.0 * np.sqrt(constraint_model.corrector.Kp)
+constraint_model.corrector.Kd[:] = 2.0 * np.sqrt(constraint_model.corrector.Kp)
 pin.initConstraintDynamics(model, data, [constraint_model])
 prox_settings = pin.ProximalSettings(1e-8, mu_sim, 10)
 

diff --git a/examples/simulation-contact-dynamics.py b/examples/simulation-contact-dynamics.py
@@ -12,10 +12,6 @@
 # Conversion with str seems to be necessary when executing this file with ipython
 pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")
 
-# Load the URDF model.
-# Conversion with str seems to be necessary when executing this file with ipython
-pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")
-
 model_path = join(pinocchio_model_dir, "example-robot-data/robots")
 mesh_dir = pinocchio_model_dir
 urdf_filename = "talos_reduced.urdf"

diff --git a/examples/talos-simulation.py b/examples/talos-simulation.py
@@ -2,9 +2,9 @@
 
 import numpy as np
 import pinocchio
-from example_robot_data import loadTalos
+import example_robot_data
 
-robot = loadTalos()
+robot = example_robot_data.load("talos")
 model = robot.model
 data = robot.data
 
@@ -35,6 +35,7 @@
 for j, frame_id in enumerate(foot_frame_ids):
     contact_model_lf1 = pinocchio.RigidConstraintModel(
         pinocchio.ContactType.CONTACT_6D,
+        robot.model,
         foot_joint_ids[j],
         robot.model.frames[frame_id].placement,
         0,

diff --git a/unittest/mjcf.cpp b/unittest/mjcf.cpp
@@ -464,7 +464,8 @@ BOOST_AUTO_TEST_CASE(parse_default_class)
   pinocchio::Model::JointIndex idx;
   pinocchio::Inertia inertia(0, Vector3(0.0, 0., 0.0), Matrix3::Identity());
   idx = model_u.addJoint(
-    model_u.njoints - 1, pinocchio::JointModelSpherical(), pinocchio::SE3::Identity(), "joint3");
+    size_t(model_u.njoints - 1), pinocchio::JointModelSpherical(), pinocchio::SE3::Identity(),
+    "joint3");
   model_u.appendBodyToJoint(idx, inertia);
 
   for (int i = 0; i < model_m.njoints; i++)