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Guilhem Saurel
test-hpp
Commits
147d7aef
Commit
147d7aef
authored
Apr 22, 2015
by
Florent Lamiraux
Browse files
Do not specify comparison type when locking a joint.
parent
f81bdeb9
Changes
2
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Inline
Side-by-side
script/test_graph_two_hands.py
View file @
147d7aef
...
...
@@ -91,7 +91,7 @@ cg.createGrasp ('r_grasp', 'pr2/r_gripper', 'box/handle2', 'pr2')
cg
.
createPreGrasp
(
'l_pregrasp'
,
'pr2/l_gripper'
,
'box/handle'
)
cg
.
createPreGrasp
(
'r_pregrasp'
,
'pr2/r_gripper'
,
'box/handle2'
)
lockbox
=
ps
.
lockFreeFlyerJoint
(
'box/base_joint'
,
'box_lock'
,
compType
=
'Equality'
)
lockbox
=
ps
.
lockFreeFlyerJoint
(
'box/base_joint'
,
'box_lock'
)
locklhand
=
[
'l_l_finger'
,
'l_r_finger'
];
ps
.
createLockedJoint
(
'l_l_finger'
,
'pr2/l_gripper_l_finger_joint'
,
[
0.5
])
...
...
script/test_simple_graph.py
View file @
147d7aef
...
...
@@ -62,8 +62,7 @@ ps.addPassiveDofs ('hrp2', jointNames ['hrp2'])
graph
.
createGrasp
(
'l_grasp'
,
'hrp2/leftHand'
,
'screw_gun/handle2'
,
'hrp2'
)
graph
.
createPreGrasp
(
'l_pregrasp'
,
'hrp2/leftHand'
,
'screw_gun/handle2'
)
lockscrewgun
=
ps
.
lockFreeFlyerJoint
(
'screw_gun/base_joint'
,
'screwgun_lock'
,
compType
=
'Equality'
)
lockscrewgun
=
ps
.
lockFreeFlyerJoint
(
'screw_gun/base_joint'
,
'screwgun_lock'
)
locklhand
=
[
'larm_6'
,
'lhand_0'
,
'lhand_1'
,
'lhand_2'
,
'lhand_3'
,
'lhand_4'
]
ps
.
createLockedJoint
(
'larm_6'
,
'hrp2/LARM_JOINT6'
,
[
q_init
[
ilh
],])
...
...
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