orsoromeo / jet-leg Goto Github PK

Hi,
Running the unittest fails for a number reasons:
a) inverse_kin() takes exactly 3 arguments (7 given)
b) LP_projection() takes at most 6 arguments (10 given)
c) getInequalities() takes at most 3 arguments (10 given)

The example I am interested in is the actuation_region_main.py and actuation_region_example.py as I was planning to use these as the starting point to understand how I can integrate the code for my use case.

Running actuation_region_example.py result in the following error:

AttributeError: IterativeProjectionParameters instance has no attribute 'getCoMPos'
The class instead has getCoMPosWF and getCoMPosBF

Running actuation_region_main.py result in the following error:

iterative_projection_bretl() takes at most 3 arguments (7 given)

Could these two examples and necessary functions be updated? Alternatively, which example is more updated that I should use?