Update jaxsim_walking.ipynb

Co-authored-by: Filippo Ferretti <[email protected]>
ami-iit · Oct 14, 2024 · fcea6d9 · fcea6d9
1 parent c028e2e
commit fcea6d9
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/examples/jaxsim_walking.ipynb b/examples/jaxsim_walking.ipynb
@@ -108,7 +108,13 @@
     "]\n",
     "\n",
     "urdf_robot_string = create_urdf_instance.write_urdf_to_file()\n",
-    "robot_model_init = RobotModel(urdf_robot_string, \"stickBot\", joint_names)"
+    "robot_model_init = RobotModel(urdf_robot_string, \"stickBot\", joint_names)\n",
+    "robot_model_init.set_foot_corner(\n",
+    "    np.asarray([0.1, 0.05, 0.0]),\n",
+    "    np.asarray([0.1, -0.05, 0.0]),\n",
+    "    np.asarray([-0.1, -0.05, 0.0]),\n",
+    "    np.asarray([-0.1, 0.05, 0.0]),\n",
+    ")"
    ]
   },
   {

diff --git a/src/comodo/jaxsimSimulator/jaxsimSimulator.py b/src/comodo/jaxsimSimulator/jaxsimSimulator.py
@@ -424,7 +424,8 @@ def base_velocity(self) -> npt.ArrayLike:
         assert (
             self._is_initialized
         ), "Simulator is not initialized, call load_model first."
-        return np.array(self._data.base_velocity())
+        with self._data.switch_velocity_representation(VelRepr.Mixed):
+            return np.array(self._data.base_velocity())
 
     @property
     def simulation_time(self) -> float: