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Guilhem Saurel
test-hpp
Commits
deddea2f
Commit
deddea2f
authored
Nov 20, 2014
by
Joseph Mirabel
Committed by
Joseph Mirabel
Nov 20, 2014
Browse files
Do not erase q_init and q_goal in script test_graph_two_hands
parent
59366f9d
Changes
1
Hide whitespace changes
Inline
Side-by-side
script/test_graph_two_hands.py
View file @
deddea2f
...
...
@@ -173,13 +173,13 @@ cg.client.graph.setLevelSetConstraints (cg.edges['r_keep_grasp_ls'], [], lockbox
cg
.
setConstraints
(
graph
=
True
,
lockDof
=
lockhands
)
# 3}}}
res
=
p
.
client
.
manipulation
.
problem
.
applyConstraints
(
cg
.
nodes
[
'free'
],
q_init
)
;
r
res
=
p
.
client
.
manipulation
.
problem
.
applyConstraints
(
cg
.
nodes
[
'free'
],
q_init
)
if
not
res
[
0
]:
raise
Exception
(
'Init configuration could not be projected.'
)
q_init
=
res
[
1
]
res
=
p
.
client
.
manipulation
.
problem
.
applyConstraints
(
cg
.
nodes
[
'free'
],
q_goal
)
;
r
(
res
[
1
]);
res
[
0
]
q_init
_proj
=
res
[
1
]
res
=
p
.
client
.
manipulation
.
problem
.
applyConstraints
(
cg
.
nodes
[
'free'
],
q_goal
)
if
not
res
[
0
]:
raise
Exception
(
'Goal configuration could not be projected.'
)
q_goal
=
res
[
1
]
p
.
setInitialConfig
(
q_init
)
p
.
addGoalConfig
(
q_goal
)
q_goal
_proj
=
res
[
1
]
p
.
setInitialConfig
(
q_init
_proj
)
p
.
addGoalConfig
(
q_goal
_proj
)
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