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Guilhem Saurel
test-hpp
Commits
7fd93dbe
Commit
7fd93dbe
authored
May 09, 2014
by
Florent Lamiraux
Browse files
Update to modification in hpp-corbaserver (commit 7844c6300c925).
parent
e38faea9
Changes
1
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Inline
Side-by-side
script/test_rrt.py
View file @
7fd93dbe
...
...
@@ -21,12 +21,12 @@ wcl = WsClient ()
wcl
.
problem
.
addStaticStabilityConstraints
(
q0
)
# lock hands in closed position
lockedDofs
=
robot
.
leftHandClosed
()
for
index
,
value
in
lockedDofs
:
cl
.
problem
.
lockDof
(
index
,
value
)
for
name
,
value
in
lockedDofs
.
iteritems
()
:
cl
.
problem
.
lockDof
(
name
,
value
)
lockedDofs
=
robot
.
rightHandClosed
()
for
index
,
value
in
lockedDofs
:
cl
.
problem
.
lockDof
(
index
,
value
)
for
name
,
value
in
lockedDofs
.
iteritems
()
:
cl
.
problem
.
lockDof
(
name
,
value
)
q1
=
[
0.0
,
0.0
,
0.705
,
1.0
,
0.
,
0.
,
0.0
,
0.0
,
0.0
,
0.0
,
0.0
,
-
0.4
,
0
,
-
1.2
,
-
1.0
,
0.0
,
0.0
,
0.174532
,
-
0.174532
,
0.174532
,
-
0.174532
,
0.174532
,
-
0.174532
,
0.261799
,
-
0.17453
,
0.0
,
-
0.523599
,
0.0
,
0.0
,
0.174532
,
-
0.174532
,
0.174532
,
-
0.174532
,
0.174532
,
-
0.174532
,
0.0
,
0.0
,
-
0.453786
,
0.872665
,
-
0.418879
,
0.0
,
0.0
,
0.0
,
-
0.453786
,
0.872665
,
-
0.418879
,
0.0
]
...
...
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