Commit b91bbb15 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update to modifications in hpp-core and hpp-corbaserver

  - lockedDofs have been replaced by lockedJoint.
parent 104ce1f2
......@@ -32,11 +32,11 @@ ps.setNumericalConstraints ("balance", ["balance/relative-com",
# lock hands in closed position
lockedDofs = robot.leftHandClosed ()
for name, value in lockedDofs.iteritems ():
ps.lockDof (name, value, 0, 0)
ps.lockJoint (name, value)
lockedDofs = robot.rightHandClosed ()
for name, value in lockedDofs.iteritems ():
ps.lockDof (name, value, 0, 0)
ps.lockJoint (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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