Commit deddea2f authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Do not erase q_init and q_goal in script test_graph_two_hands

parent 59366f9d
...@@ -173,13 +173,13 @@ cg.client.graph.setLevelSetConstraints (cg.edges['r_keep_grasp_ls'], [], lockbox ...@@ -173,13 +173,13 @@ cg.client.graph.setLevelSetConstraints (cg.edges['r_keep_grasp_ls'], [], lockbox
cg.setConstraints (graph = True, lockDof = lockhands) cg.setConstraints (graph = True, lockDof = lockhands)
# 3}}} # 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]: if not res[0]:
raise Exception ('Init configuration could not be projected.') raise Exception ('Init configuration could not be projected.')
q_init = res [1] q_init_proj = res [1]
res = p.client.manipulation.problem.applyConstraints (cg.nodes['free'], q_goal); r (res[1]); res[0] res = p.client.manipulation.problem.applyConstraints (cg.nodes['free'], q_goal)
if not res[0]: if not res[0]:
raise Exception ('Goal configuration could not be projected.') raise Exception ('Goal configuration could not be projected.')
q_goal = res [1] q_goal_proj = res [1]
p.setInitialConfig (q_init) p.setInitialConfig (q_init_proj)
p.addGoalConfig (q_goal) p.addGoalConfig (q_goal_proj)
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