Commit b92d44c0 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Fix usage of Posture task

parent cefed18d
......@@ -120,7 +120,7 @@ class Supervisor(object):
sot.setSize(self.sotrobot.dynamic.getDimension())
self.keep_posture = Posture ("posture_keep", self.sotrobot)
self.keep_posture.tp.setWithDerivative (False)
self.keep_posture._signalPositionRef().value = self.sotrobot.dynamic.position.value [6:]
self.keep_posture._signalPositionRef().value = self.sotrobot.dynamic.position.value
self.keep_posture.pushTo(sot)
self.sots[-1] = sot
......@@ -172,7 +172,7 @@ class Supervisor(object):
# raise Exception ("Sot %d not consistent with sot %d" % (self.currentSot, id))
print "Sot %d not consistent with sot %d" % (self.currentSot, id)
if id == -1:
self.keep_posture._signalPositionRef().value = self.sotrobot.dynamic.position.value [6:]
self.keep_posture._signalPositionRef().value = self.sotrobot.dynamic.position.value
sot = self.sots[id]
t = self.sotrobot.device.control.time
sot.control.recompute (t-1)
......@@ -206,7 +206,7 @@ class Supervisor(object):
print "No post action", self.currentSot, idStateTarget
def getJointList (self, prefix = ""):
return [ prefix + n for n in self.sotrobot.dynamic.model.names[2:] ]
return [ prefix + n for n in self.sotrobot.dynamic.model.names[1:] ]
def _manifold (self, idxs):
if self.grasps.has_key(idxs):
......
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