Commit 2e687fd3 authored by Francois Keith's avatar Francois Keith
Browse files

Correct the right hand task for unittest/dyn_romeo.py

parent 08faf1f3
......@@ -83,12 +83,11 @@ robot.control.unplug()
# --- Task Dyn -----------------------------------------
# Task right hand
task=MetaTaskDyn6d('rh',dyn,'task')
task.ref = ((0,0,-1,0.22),(0,1,0,-0.37),(1,0,0,.74),(0,0,0,1))
# Task LFoot: Move the right foot up.
taskLF=MetaTaskDyn6d('lf',dyn,'lf','left-ankle')
taskLF.ref = ((1,0,0,0.0),(0,1,0,+0.29),(0,0,1,.15),(0,0,0,1))
task=MetaTaskDyn6d('rh',dyn,'rh')
# task.ref = ((0,0,-1,0.22),(0,1,0,-0.37),(1,0,0,.74),(0,0,0,1))
task.ref = ((0,0,-1,0.2),(0,1,0,-0.2),(1,0,0,1.00),(0,0,0,1))
# constraint only the position: _ _ _ Z Y X
task.feature.selec.value = '111000'
# --- TASK COM ------------------------------------------------------
dyn.setProperty('ComputeCoM','true')
......@@ -148,7 +147,9 @@ sot.addContactFromTask(contactLF.task.name,'LF')
sot._LF_p.value = contactLF.support
sot.addContactFromTask(contactRF.task.name,'RF')
sot._RF_p.value = contactRF.support
sot.push('taskCom')
sot.push('taskrh')
# go
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