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Fixing two typos in cbirrt that cause failures
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src/prpy/planning/cbirrt.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -137,7 +137,7 @@ def PlanToEndEffectorOffset(self, robot, direction, distance,
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psample=0.1,
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tsr_chains=[goal_tsr_chain, traj_tsr_chain],
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# Smooth since this is a constrained trajectory.
140-
smoothingitrs=smoothingitrs
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smoothingitrs=smoothingitrs,
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**kw_args
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)
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@@ -160,7 +160,7 @@ def PlanToTSR(self, robot, tsr_chains, smoothingitrs=100, **kw_args):
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if chain.sample_start or chain.sample_goal:
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psample = 0.1
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163-
if chain.constrian:
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if chain.constrain:
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is_constrained = True
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# Only smooth constrained trajectories.

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