From 423a546fab80a9d6150547b66a744fba21f78848 Mon Sep 17 00:00:00 2001
From: stevet <stevetonneau@gotmail.fr>
Date: Fri, 28 Jun 2019 18:33:55 +0100
Subject: [PATCH] generate one contact
---
src/hpp/corbaserver/rbprm/rbprmfullbody.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index a76d9c8a..dd0a9625 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -290,7 +290,7 @@ class FullBody (Robot):
num_max_sample = 1
for (limbName, normal) in zip(contacts, normals):
p = cl.getEffectorPosition(limbName,configuration)[0]
- cl.addNewContact(sId, limbName, p, normal, num_max_sample, True)
+ cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
return cl.setStartStateId(sId)
@@ -308,7 +308,7 @@ class FullBody (Robot):
num_max_sample = 1
for (limbName, normal) in zip(contacts, normals):
p = cl.getEffectorPosition(limbName,configuration)[0]
- cl.addNewContact(sId, limbName, p, normal, num_max_sample, True)
+ cl.addNewContact(sId, limbName, p, normal, num_max_sample, False)
return cl.setEndStateId(sId)
## Initialize the first state of the path interpolation
@@ -835,7 +835,7 @@ class FullBody (Robot):
# \param viewer gepetto viewer instance
def draw(self, configuration, viewer):
viewer(configuration)
- for limb, groupid in self.octrees.items():
+ for limb, groupid in self.octrees.iteritems():
transform = self.clientRbprm.rbprm.getOctreeTransform(limb, configuration)
viewer.client.gui.applyConfiguration(groupid,transform)
viewer.client.gui.refresh()
--
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