Commit 93a45f29 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Do not use deprecated arguments in ConstraintGraph.setConstraint.

parent 52e03acb
......@@ -145,45 +145,49 @@ cg.createNode (['both', 'right', 'left', 'free'])
cg.setConstraints (node='free', numConstraints=['box_placement'])
# Right hand {{{4
cg.setConstraints (node='right', grasp='r_grasp')
cg.setConstraints (node='right', grasps=['r_grasp'])
cg.createWaypointEdge ('free', 'right', 'r_grasp', nb=1, weight=10)
cg.setConstraints (edge='r_grasp_e1', lockDof = lockbox)
cg.setConstraints (node='r_grasp_n0', pregrasp = 'r_pregrasp')
cg.setConstraints (node='r_grasp_n0', pregrasps = ['r_pregrasp'])
cg.setConstraints (edge='r_grasp_e0', lockDof = lockbox)
# 4}}}
# Left hand {{{4
cg.setConstraints (node = 'left', grasp = 'l_grasp')
cg.setConstraints (node = 'left', grasps = ['l_grasp'])
cg.createWaypointEdge ('free', 'left', 'l_grasp', 1, 10)
cg.setConstraints (edge='l_grasp_e1', lockDof = lockbox)
cg.setConstraints (node='l_grasp_n0', pregrasp = 'l_pregrasp')
cg.setConstraints (node='l_grasp_n0', pregrasps = ['l_pregrasp'])
cg.setConstraints (edge='l_grasp_e0', lockDof = lockbox)
# 4}}}
# Both hands {{{4
cg.setConstraints (node='both', grasp = ['l_grasp', 'r_grasp'])
cg.setConstraints (node='both', grasps = ['l_grasp', 'r_grasp'])
cg.createWaypointEdge ('both', 'right', 'b_l_ungrasp', 1, 1)
cg.createWaypointEdge ('right', 'both', 'b_l_grasp', 1, 10)
cg.setConstraints (node='b_l_ungrasp_n0', grasp = 'r_grasp', pregrasp = 'l_pregrasp')
cg.setConstraints (node='b_l_ungrasp_n0', grasps = ['r_grasp'],
pregrasps = ['l_pregrasp'])
cg.setConstraints (edge='b_l_ungrasp_e0', lockDof = lockbox)
cg.setConstraints (edge='b_l_grasp_e1', lockDof = lockbox)
cg.setConstraints (node='b_l_grasp_n0', grasp = 'r_grasp', pregrasp = 'l_pregrasp')
cg.setConstraints (node='b_l_grasp_n0', grasps = ['r_grasp'],
pregrasps = ['l_pregrasp'])
cg.createWaypointEdge ('both', 'left', 'b_r_ungrasp', 1, 1)
cg.createWaypointEdge ('left', 'both', 'b_r_grasp', 1, 10)
cg.setConstraints (node='b_r_ungrasp_n0', grasp = 'l_grasp', pregrasp = 'r_pregrasp')
cg.setConstraints (node='b_r_ungrasp_n0', grasps = ['l_grasp'],
pregrasps = ['r_pregrasp'])
cg.setConstraints (edge='b_r_ungrasp_e0', lockDof = lockbox)
cg.setConstraints (edge='b_r_grasp_e1', lockDof = lockbox)
cg.setConstraints (node='b_r_grasp_n0', grasp = 'l_grasp', pregrasp = 'r_pregrasp')
cg.setConstraints (node='b_r_grasp_n0', grasps = ['l_grasp'],
pregrasps = ['r_pregrasp'])
# 4}}}
# Loops {{{4
......
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