Commit 8ad07929 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update to new error handling policy in hpp-corbaserver

  - corba requests do not return a status anymore. If an error occurs, an
    exception is thrown.
parent 171f8199
......@@ -9,7 +9,7 @@ from hpp.corbaserver.wholebody_step.client import Client as WsClient
Robot.urdfSuffix = '_capsule'
Robot.srdfSuffix= '_capsule'
robot = Robot ()
robot = Robot ('hrp2_14')
robot.setTranslationBounds (-3, 3, -3, 3, 0, 1)
cl = robot.client
......@@ -32,11 +32,11 @@ for index, value in lockedDofs:
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]
status, q1proj = cl.problem.applyConstraints (q1)
q1proj = cl.problem.applyConstraints (q1)
q2 = [0.0, 0.0, 0.705, 1, 0, 0, 0, 0.0, 0.0, 0.0, 0.0, 1.0, 0, -1.4, -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]
status, q2proj = cl.problem.applyConstraints (q2)
q2proj = cl.problem.applyConstraints (q2)
cl.problem.setInitialConfig (q1proj)
cl.problem.addGoalConfig (q2proj)
......
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