Commit f0656cf8 authored by Pierre Fernbach's avatar Pierre Fernbach

[Python] set{Start,End}State correctly project from the new state and not the original one

parent 9c9ed1db
......@@ -325,7 +325,7 @@ class FullBody(Robot):
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])
sId = cl.addNewContact(sId, limbName, p, normal, num_max_sample, False, [0, 0, 0, 0])
return cl.setStartStateId(sId)
# # Initialize the goal configuration of the path interpolation
......@@ -342,7 +342,7 @@ class FullBody(Robot):
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])
sId = cl.addNewContact(sId, limbName, p, normal, num_max_sample, False, [0, 0, 0, 0])
return cl.setEndStateId(sId)
# # Initialize the first state of the path interpolation
......
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