quimortiz / dynorrt Goto Github PK

Hi,

Continuing #14,

I have this error:

 cm.set_pin_model(full_robot_red.model, full_robot_red.collision_model)
TypeError: set_pin_model(): incompatible function arguments. The following argument types are supported:
    1. (self: pydynorrt.pydynorrt.Collision_manager_pinocchio, arg0: pinocchio::ModelTpl<double, 0, pinocchio::JointCollectionDefaultTpl>, arg1: pinocchio::GeometryModel) -> None

My guess is that instead of passing references in the methods set_pin_model in pin_col_manager and set_pin_model in pin_ik_solver boost::shared_ptr<pinocchio::Model> t_model, boost::shared_ptr<pinocchio::GeometryModel> t_geomodel passing the models as shared_ptr should do the trick.

At least this is what is done in pinocchio and crocoddyl.

However I'm not sure how much it'll affect the code.

Python bindings error when:

pyrrt.set_pin_model(cm, full_robot_red.model, full_robot_red.collision_model)

in the example code fingers.py.