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Guilhem Saurel
test-hpp
Commits
1ed489c7
Commit
1ed489c7
authored
Oct 13, 2014
by
Joseph Mirabel
Committed by
Joseph Mirabel
Nov 18, 2014
Browse files
Update configurations in script test_simple_test
parent
85f994c1
Changes
1
Hide whitespace changes
Inline
Side-by-side
script/test_simple_graph.py
View file @
1ed489c7
...
...
@@ -7,7 +7,7 @@ Robot.srdfSuffix = '_mathieu'
robot
=
Robot
(
'hrp2'
)
robot
.
client
.
basic
.
problem
.
selectPathPlanner
(
"M-RRT"
)
robot
.
loadObjectModel
(
'screw_gun'
,
'freeflyer'
,
'airbus_environment'
,
'screw_gun_nomass'
,
''
,
''
)
robot
.
loadObjectModel
(
'screw_gun'
,
'freeflyer'
,
'airbus_environment'
,
'screw_gun
'
,
'
_nomass'
,
''
)
robot
.
buildCompositeRobot
(
'hrp2-screw'
,
[
'hrp2'
,
'screw_gun'
])
for
d
in
[
"hrp2"
,
"screw_gun"
]:
for
a
in
[
"x"
,
"y"
,
"z"
]:
...
...
@@ -24,8 +24,8 @@ q1=[0.2561522768052704, 0.009968182216397095, -0.0013343337623661373, 0.98222000
q2
=
[
0.2561522768052704
,
0.009968182216397094
,
-
0.0013343337623677983
,
0.9822200021750275
,
-
0.013240657098102699
,
0.06488994582365894
,
0.17566401810815518
,
0.3518980306918404
,
0.5587732909530987
,
-
0.00014707196704828986
,
0.003348199890377807
,
0.2851538622381267
,
0.019515985023862044
,
0.4756824180462511
,
0.03432584051214365
,
0.48238375657832383
,
0.5252200250587228
,
0.75
,
-
0.75
,
0.75
,
-
0.75
,
0.75
,
-
0.75
,
-
0.08183778724043055
,
-
0.0023290685021591065
,
0.0013672024871913863
,
-
0.03184796508560018
,
0.00013468971902932646
,
-
0.006463660186048368
,
0.75
,
-
0.75
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0.75
,
-
0.75
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0.75
,
-
0.75
,
-
0.001445429867963691
,
0.008692815372566085
,
-
0.17944952816666074
,
-
0.0349066
,
0.08186718484332876
,
-
0.00521765027117088
,
-
0.0014458867527830789
,
0.008689383322556907
,
-
0.17892504829630115
,
-
0.0349066
,
0.08135671815690743
,
-
0.005214187945905259
,
1.0
,
-
0.009968182216397
,
0.3399077826256168
,
0.8920410834920809
,
0.03081996727219969
,
-
0.37686669705702674
,
-
0.2475567159843218
]
q3
=
[
0.2561522768052704
,
0.009968182216397017
,
-
0.0013072533849402136
,
0.9822384333854748
,
-
0.01312068217341367
,
0.06461437559545073
,
0.17567154051286343
,
0.35191845881842604
,
0.5584191613132159
,
-
0.00014417077050741273
,
0.003264525687460523
,
0.2869014360284614
,
0.01968512963006628
,
0.47563871278773184
,
0.0349066
,
0.4823374727974044
,
0.5253128675582199
,
0.00028141477557467405
,
-
9.224156430856334e-05
,
9.57339438119022e-05
,
0.00043012512285501805
,
9.464640215865539e-05
,
-
0.00027454688131241776
,
-
0.08070554282100409
,
-
0.0022150673918241194
,
0.0013507126487957277
,
-
0.031445080182081316
,
0.00013303660804169588
,
-
0.0063951082465386055
,
0.00018071522532470678
,
-
7.008398345853373e-05
,
0.0001432918466161822
,
5.0663492959904484e-05
,
5.932458587315774e-05
,
-
0.0001501990824631989
,
-
0.0016207277515218107
,
0.008331445043308924
,
-
0.1782202190053313
,
-
0.0349066
,
0.08120820667180957
,
-
0.004973436857255375
,
-
0.0016211611493169267
,
0.008328178972275535
,
-
0.17768239866563243
,
-
0.03490564559358417
,
0.08066263806839956
,
-
0.00497014215842449
,
-
0.2561522768052704
,
-
0.009968182216396924
,
0.33990778262561817
,
0.8920410834920809
,
0.03081996727219969
,
-
0.37686669705702674
,
-
0.2475567159843218
]
qinit
=
[
6.351445422051578e-15
,
-
7.64857075802911e-16
,
-
0.00010650933265040068
,
0.9997086753828088
,
-
0.001462864329132029
,
0.024091994398753543
,
1.4078154478767463e-05
,
-
0.00040620371503693694
,
0.06720468781884271
,
0.09997150487212819
,
0.10619128937732075
,
-
0.030984458364104503
,
0.06768151515542697
,
-
9.21491333147205e-05
,
-
0.007395092069129794
,
4.108678412429508e-05
,
0.09687147183171207
,
0.75
,
-
0.75
,
0.75
,
-
0.75
,
0.75
,
-
0.75
,
-
0.030157742792904667
,
-
0.06148082407263112
,
0.000178380167127975
,
-
0.006607688410387017
,
7.424531689237967e-05
,
0.00026391550679217136
,
0.
00037760339367881
75
,
0.
000250194383634261
,
-
0.
0005725514027501679
,
6.818331370664385e-0
5
,
-
0.
00020049176175900826
,
0.
0004808871166639079
,
-
0.0011302430393443214
,
0.00792613666021656
,
-
0.05431204743596144
,
-
0.020779247681766293
,
0.026905347698115048
,
-
0.00494217897984072
,
-
0.0011303560351055939
,
0.007923626259361372
,
-
0.05448958126663155
,
-
0.019807309704424767
,
0.02612488205235436
,
-
0.004939666182290102
,
2
,
-
0.009968182216395699
,
0.3399077826251962
,
0.7071067811865476
,
0
,
-
0.7071067811865475
,
0
]
qgoal
=
[
6.351445422051578e-15
,
-
7.64857075802911e-16
,
-
0.00010650933265040068
,
0.9997086753828088
,
-
0.001462864329132029
,
0.024091994398753543
,
1.4078154478767463e-05
,
-
0.00040620371503693694
,
0.06720468781884271
,
0.09997150487212819
,
0.10619128937732075
,
-
0.030984458364104503
,
0.06768151515542697
,
-
9.21491333147205e-05
,
-
0.007395092069129794
,
4.108678412429508e-05
,
0.09687147183171207
,
0.75
,
-
0.75
,
0.75
,
-
0.75
,
0.75
,
-
0.75
,
-
0.030157742792904667
,
-
0.06148082407263112
,
0.000178380167127975
,
-
0.006607688410387017
,
7.424531689237967e-05
,
0.00026391550679217136
,
0.
00037760339367881
75
,
0.
000250194383634261
,
-
0.
0005725514027501679
,
6.818331370664385e-0
5
,
-
0.
00020049176175900826
,
0.
0004808871166639079
,
-
0.0011302430393443214
,
0.00792613666021656
,
-
0.05431204743596144
,
-
0.020779247681766293
,
0.026905347698115048
,
-
0.00494217897984072
,
-
0.0011303560351055939
,
0.007923626259361372
,
-
0.05448958126663155
,
-
0.019807309704424767
,
0.02612488205235436
,
-
0.004939666182290102
,
1
,
-
0.009968182216395699
,
0.3399077826251962
,
0.7071067811865476
,
0
,
-
0.7071067811865475
,
0
]
qinit
=
[
6.351445422051578e-15
,
-
7.64857075802911e-16
,
-
0.00010650933265040068
,
0.9997086753828088
,
-
0.001462864329132029
,
0.024091994398753543
,
1.4078154478767463e-05
,
-
0.00040620371503693694
,
0.06720468781884271
,
0.09997150487212819
,
0.10619128937732075
,
-
0.030984458364104503
,
0.06768151515542697
,
-
9.21491333147205e-05
,
-
0.007395092069129794
,
4.108678412429508e-05
,
0.09687147183171207
,
0.75
,
-
0.75
,
0.75
,
-
0.75
,
0.75
,
-
0.75
,
-
0.030157742792904667
,
-
0.06148082407263112
,
0.000178380167127975
,
-
0.006607688410387017
,
7.424531689237967e-05
,
0.00026391550679217136
,
0.75
,
-
0.
75
,
0.
75
,
-
0.7
5
,
0.
75
,
-
0.
75
,
-
0.0011302430393443214
,
0.00792613666021656
,
-
0.05431204743596144
,
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0.020779247681766293
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0.026905347698115048
,
-
0.00494217897984072
,
-
0.0011303560351055939
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0.007923626259361372
,
-
0.05448958126663155
,
-
0.019807309704424767
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0.02612488205235436
,
-
0.004939666182290102
,
2
,
-
0.009968182216395699
,
0.3399077826251962
,
0.7071067811865476
,
0
,
-
0.7071067811865475
,
0
]
qgoal
=
[
6.351445422051578e-15
,
-
7.64857075802911e-16
,
-
0.00010650933265040068
,
0.9997086753828088
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-
0.001462864329132029
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0.024091994398753543
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1.4078154478767463e-05
,
-
0.00040620371503693694
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0.09997150487212819
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0.10619128937732075
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0.09687147183171207
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0.75
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-
0.75
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-
0.030157742792904667
,
-
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,
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,
-
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,
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,
0.00026391550679217136
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75
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0.
75
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5
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75
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75
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,
-
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,
-
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,
0.007923626259361372
,
-
0.05448958126663155
,
-
0.019807309704424767
,
0.02612488205235436
,
-
0.004939666182290102
,
1
,
-
0.009968182216395699
,
0.3399077826251962
,
0.7071067811865476
,
0
,
-
0.7071067811865475
,
0
]
p
=
ProblemSolver
(
robot
)
p
.
createGrasp
(
'left-hand-grasp'
,
'hrp2/leftHand'
,
'screw_gun/handle2'
)
...
...
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