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Guilhem Saurel
test-hpp
Commits
80d6b665
Commit
80d6b665
authored
Apr 14, 2015
by
Florent Lamiraux
Browse files
Update scripts
parent
6386077a
Changes
4
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Inline
Side-by-side
script/hrp2_walk.py
View file @
80d6b665
...
...
@@ -176,3 +176,6 @@ graph.setConstraints (graph=True, lockDof = lockDofs)
ps
.
setInitialConfig
(
q_init
)
ps
.
addGoalConfig
(
q_goal
)
r
=
vf
.
createRealClient
()
pp
=
PathPlayer
(
robot
.
client
.
basic
,
r
)
script/test_graph_two_hands.py
View file @
80d6b665
...
...
@@ -82,6 +82,7 @@ for n in jointNames['all']:
jointNames
[
'pr2'
].
append
(
n
)
if
not
n
.
startswith
(
"pr2/l_gripper"
):
jointNames
[
'allButPR2LeftArm'
].
append
(
n
)
ps
.
addPassiveDofs
(
'pr2'
,
jointNames
[
'pr2'
])
cg
.
createGrasp
(
'l_grasp'
,
'pr2/l_gripper'
,
'box/handle'
,
'pr2'
)
...
...
@@ -202,10 +203,15 @@ cg.setConstraints (graph = True, lockDof = lockAll)
res
=
ps
.
client
.
manipulation
.
problem
.
applyConstraints
(
cg
.
nodes
[
'free'
],
q_init
)
if
not
res
[
0
]:
raise
Exception
(
'Init configuration could not be projected.'
)
q_init_proj
=
res
[
1
]
res
=
ps
.
client
.
manipulation
.
problem
.
applyConstraints
(
cg
.
nodes
[
'free'
],
q_goal
)
if
not
res
[
0
]:
raise
Exception
(
'Goal configuration could not be projected.'
)
q_goal_proj
=
res
[
1
]
ps
.
setInitialConfig
(
q_init_proj
)
ps
.
addGoalConfig
(
q_goal_proj
)
r
=
vf
.
createRealClient
()
pp
=
PathPlayer
(
robot
.
client
.
basic
,
r
)
script/test_rrt.py
View file @
80d6b665
...
...
@@ -63,4 +63,4 @@ ps.addGoalConfig (q2proj)
ps
.
solve
()
pp
=
PathPlayer
(
cl
,
r
)
pp
(
1
)
#
pp (1)
script/test_simple_graph.py
View file @
80d6b665
...
...
@@ -109,3 +109,6 @@ graph.setConstraints (graph=True, lockDof = locklhand, numConstraints=ps.balance
ps
.
setInitialConfig
(
q_init
)
ps
.
addGoalConfig
(
q_goal
)
r
=
vf
.
createRealClient
()
pp
=
PathPlayer
(
robot
.
client
.
basic
,
r
)
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