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Guilhem Saurel
hpp-rbprm-corba
Commits
9c9ed1db
Commit
9c9ed1db
authored
Mar 26, 2020
by
Pierre Fernbach
Browse files
[Python] set{Start,End}State do not allow to sample if the first iteration fail
parent
82b00950
Changes
1
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Inline
Side-by-side
src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
9c9ed1db
...
...
@@ -322,7 +322,7 @@ class FullBody(Robot):
return
self
.
clientRbprm
.
rbprm
.
setStartState
(
configuration
,
contacts
)
cl
=
self
.
clientRbprm
.
rbprm
sId
=
cl
.
createState
(
configuration
,
contacts
)
num_max_sample
=
1
num_max_sample
=
0
for
(
limbName
,
normal
)
in
zip
(
contacts
,
normals
):
p
=
cl
.
getEffectorPosition
(
limbName
,
configuration
)[
0
]
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
False
,
[
0
,
0
,
0
,
0
])
...
...
@@ -339,7 +339,7 @@ class FullBody(Robot):
return
self
.
clientRbprm
.
rbprm
.
setEndState
(
configuration
,
contacts
)
cl
=
self
.
clientRbprm
.
rbprm
sId
=
cl
.
createState
(
configuration
,
contacts
)
num_max_sample
=
1
num_max_sample
=
0
for
(
limbName
,
normal
)
in
zip
(
contacts
,
normals
):
p
=
cl
.
getEffectorPosition
(
limbName
,
configuration
)[
0
]
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
False
,
[
0
,
0
,
0
,
0
])
...
...
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