Add free-flyer when loading in Pinocchio

upkie · Aug 16, 2024 · 655ae4d · 655ae4d
1 parent a7550e2
commit 655ae4d
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Showing 3 changed files with 8 additions and 4 deletions.
diff --git a/.github/workflows/packaging.yml b/.github/workflows/packaging.yml
@@ -8,7 +8,7 @@ on:
 
 defaults:
     run:
-        # See https://github.com/mamba-org/provision-with-micromamba#important
+        # See https://github.com/mamba-org/setup-micromamba#about-login-shells
         shell: bash -l {0}
 
 jobs:

diff --git a/examples/display_collisions.py b/examples/display_collisions.py
@@ -11,9 +11,8 @@
 import argparse
 import time
 
-from pinocchio.visualize import MeshcatVisualizer
-
 import upkie_description
+from pinocchio.visualize import MeshcatVisualizer
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser(description=__doc__)

diff --git a/examples/load_in_pinocchio.py b/examples/load_in_pinocchio.py
@@ -8,6 +8,7 @@
 
 import argparse
 
+import pinocchio as pin
 import upkie_description
 
 if __name__ == "__main__":
@@ -22,6 +23,10 @@
     if args.variant:
         label = f"'{args.variant}' variant of the robot"
     print(f"Loading {label} in Pinocchio...")
-    robot = upkie_description.load_in_pinocchio(variant=args.variant)
+    robot = upkie_description.load_in_pinocchio(
+        # NB: we add a free-flyer so that the torso mass is included
+        root_joint=pin.JointModelFreeFlyer(),
+        variant=args.variant,
+    )
     print(f"{robot=}")
     print("Run this example with ``python -i`` to interact with it")