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Commit 3984a273 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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Use variable ballName to hide ugly name of joint.

parent 865d3de0
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Inline Side-by-side
script/manipulation.py
View file @ 3984a273
......@@ -33,9 +33,9 @@ graph.createEdge ('grasp', 'placement', 'release-ball', 1, 'grasp')
## Create transformation constraint : ball is in horizontal plane with free
## rotation around z
ps.createTransformationConstraint ('placement', 'pokeball/base_joint_SO3', '', [0,0,0.025,1,0,0,0], [False, False, True, True, True, False,])
ps.createTransformationConstraint ('placement', ballName, '', [0,0,0.025,1,0,0,0], [False, False, True, True, True, False,])
# Create complement constraint
ps.createTransformationConstraint ('placement/complement', 'pokeball/base_joint_SO3', '', [0,0,0.025,1,0,0,0], [True, True, False, False, False, True,])
ps.createTransformationConstraint ('placement/complement', ballName, '', [0,0,0.025,1,0,0,0], [True, True, False, False, False, True,])
ps.setConstantRightHandSide ('placement', True)
ps.setConstantRightHandSide ('placement/complement', False)
......
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