Skip to content
GitLab
Menu
Projects
Groups
Snippets
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Guilhem Saurel
test-hpp
Commits
6f49ac44
Commit
6f49ac44
authored
Dec 17, 2014
by
Florent Lamiraux
Browse files
Update test_simple_graph.py to commit e7866c4 in hpp-core.
parent
01848e88
Changes
1
Hide whitespace changes
Inline
Side-by-side
script/test_simple_graph.py
View file @
6f49ac44
...
...
@@ -4,7 +4,7 @@ from hpp.corbaserver.manipulation import ProblemSolver, ConstraintGraph
from
hpp_ros.manipulation
import
ScenePublisher
Robot
.
urdfSuffix
=
'_capsule_mesh'
Robot
.
srdfSuffix
=
'_ma
thieu
'
Robot
.
srdfSuffix
=
'_ma
nipulation
'
# Load HRP2 and a screwgun {{{3
robot
=
Robot
(
'hrp2'
)
...
...
@@ -49,15 +49,15 @@ for n in jointNames['all']:
graph
.
createGrasp
(
'l_grasp'
,
'hrp2/leftHand'
,
'screw_gun/handle2'
,
jointNames
[
'hrp2'
])
graph
.
createPreGrasp
(
'l_pregrasp'
,
'hrp2/leftHand'
,
'screw_gun/handle2'
)
lockscrewgun
=
p
.
lockFreeFlyerJoint
(
'screw_gun/base_joint'
,
'screwgun_lock'
,
parametric
=
True
)
lockscrewgun
=
p
.
lockFreeFlyerJoint
(
'screw_gun/base_joint'
,
'screwgun_lock'
)
locklhand
=
[
'larm_6'
,
'lhand_0'
,
'lhand_1'
,
'lhand_2'
,
'lhand_3'
,
'lhand_4'
]
p
.
createLocked
Dof
Constraint
(
'larm_6'
,
'hrp2/LARM_JOINT6'
,
q1
[
17
],
0
,
0
)
p
.
createLocked
Dof
Constraint
(
'lhand_0'
,
'hrp2/LHAND_JOINT0'
,
q1
[
18
],
0
,
0
)
p
.
createLocked
Dof
Constraint
(
'lhand_1'
,
'hrp2/LHAND_JOINT1'
,
q1
[
19
],
0
,
0
)
p
.
createLocked
Dof
Constraint
(
'lhand_2'
,
'hrp2/LHAND_JOINT2'
,
q1
[
20
],
0
,
0
)
p
.
createLocked
Dof
Constraint
(
'lhand_3'
,
'hrp2/LHAND_JOINT3'
,
q1
[
21
],
0
,
0
)
p
.
createLocked
Dof
Constraint
(
'lhand_4'
,
'hrp2/LHAND_JOINT4'
,
q1
[
22
],
0
,
0
)
p
.
createLocked
Joint
Constraint
(
'larm_6'
,
'hrp2/LARM_JOINT6'
,
q1
[
17
:
18
]
)
p
.
createLocked
Joint
Constraint
(
'lhand_0'
,
'hrp2/LHAND_JOINT0'
,
q1
[
18
:
19
]
)
p
.
createLocked
Joint
Constraint
(
'lhand_1'
,
'hrp2/LHAND_JOINT1'
,
q1
[
19
:
20
]
)
p
.
createLocked
Joint
Constraint
(
'lhand_2'
,
'hrp2/LHAND_JOINT2'
,
q1
[
20
:
21
]
)
p
.
createLocked
Joint
Constraint
(
'lhand_3'
,
'hrp2/LHAND_JOINT3'
,
q1
[
21
:
22
]
)
p
.
createLocked
Joint
Constraint
(
'lhand_4'
,
'hrp2/LHAND_JOINT4'
,
q1
[
22
:
23
]
)
p
.
createStaticStabilityConstraints
(
"balance"
,
q1
)
# 3}}}
...
...
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
.
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment