From 2e687fd393d8bfbbbe651657ade7dcdc836c26b4 Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Wed, 20 Feb 2013 01:05:42 +0100
Subject: [PATCH] Correct the right hand task for unittest/dyn_romeo.py
---
python/unittests/dynromeo.py | 13 +++++++------
1 file changed, 7 insertions(+), 6 deletions(-)
diff --git a/python/unittests/dynromeo.py b/python/unittests/dynromeo.py
index a911e8d..13e51e5 100644
--- a/python/unittests/dynromeo.py
+++ b/python/unittests/dynromeo.py
@@ -83,12 +83,11 @@ robot.control.unplug()
# --- Task Dyn -----------------------------------------
# Task right hand
-task=MetaTaskDyn6d('rh',dyn,'task')
-task.ref = ((0,0,-1,0.22),(0,1,0,-0.37),(1,0,0,.74),(0,0,0,1))
-
-# Task LFoot: Move the right foot up.
-taskLF=MetaTaskDyn6d('lf',dyn,'lf','left-ankle')
-taskLF.ref = ((1,0,0,0.0),(0,1,0,+0.29),(0,0,1,.15),(0,0,0,1))
+task=MetaTaskDyn6d('rh',dyn,'rh')
+# task.ref = ((0,0,-1,0.22),(0,1,0,-0.37),(1,0,0,.74),(0,0,0,1))
+task.ref = ((0,0,-1,0.2),(0,1,0,-0.2),(1,0,0,1.00),(0,0,0,1))
+# constraint only the position: _ _ _ Z Y X
+task.feature.selec.value = '111000'
# --- TASK COM ------------------------------------------------------
dyn.setProperty('ComputeCoM','true')
@@ -148,7 +147,9 @@ sot.addContactFromTask(contactLF.task.name,'LF')
sot._LF_p.value = contactLF.support
sot.addContactFromTask(contactRF.task.name,'RF')
sot._RF_p.value = contactRF.support
+
sot.push('taskCom')
+sot.push('taskrh')
# go
--
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