Update default value for joints_name_list

ami-iit · Dec 11, 2023 · ae35f83 · ae35f83
1 parent 53f070a
commit ae35f83
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/src/adam/casadi/computations.py b/src/adam/casadi/computations.py
@@ -20,7 +20,7 @@ class KinDynComputations:
     def __init__(
         self,
         urdfstring: str,
-        joints_name_list: list,
+        joints_name_list: list = None,
         root_link: str = "root_link",
         gravity: np.array = np.array([0.0, 0.0, -9.80665, 0.0, 0.0, 0.0]),
         f_opts: dict = dict(jit=False, jit_options=dict(flags="-Ofast")),

diff --git a/src/adam/jax/computations.py b/src/adam/jax/computations.py
@@ -19,7 +19,7 @@ class KinDynComputations:
     def __init__(
         self,
         urdfstring: str,
-        joints_name_list: list,
+        joints_name_list: list = None,
         root_link: str = "root_link",
         gravity: np.array = jnp.array([0, 0, -9.80665, 0, 0, 0]),
     ) -> None:

diff --git a/src/adam/numpy/computations.py b/src/adam/numpy/computations.py
@@ -18,7 +18,7 @@ class KinDynComputations:
     def __init__(
         self,
         urdfstring: str,
-        joints_name_list: list,
+        joints_name_list: list = None,
         root_link: str = "root_link",
         gravity: np.array = np.array([0, 0, -9.80665, 0, 0, 0]),
     ) -> None:

diff --git a/src/adam/pytorch/computations.py b/src/adam/pytorch/computations.py
@@ -19,7 +19,7 @@ class KinDynComputations:
     def __init__(
         self,
         urdfstring: str,
-        joints_name_list: list,
+        joints_name_list: list = None,
         root_link: str = "root_link",
         gravity: np.array = torch.FloatTensor([0, 0, -9.80665, 0, 0, 0]),
     ) -> None: