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Guilhem Saurel
test-hpp
Commits
ef6dbe6b
Commit
ef6dbe6b
authored
Mar 06, 2015
by
Florent Lamiraux
Browse files
Update to modification in idl interface hpp-wholebody-step-corba.
parent
9b77c6ed
Changes
2
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script/balance_constraints_success_statistics.py
View file @
ef6dbe6b
...
@@ -4,6 +4,7 @@
...
@@ -4,6 +4,7 @@
from
hpp.corbaserver
import
Client
,
ProblemSolver
from
hpp.corbaserver
import
Client
,
ProblemSolver
from
hpp.corbaserver.wholebody_step
import
Client
as
WSClient
from
hpp.corbaserver.wholebody_step
import
Client
as
WSClient
from
hpp.corbaserver.wholebody_step
import
Problem
from
hpp.corbaserver.hrp2
import
Robot
from
hpp.corbaserver.hrp2
import
Robot
Robot
.
urdfSuffix
=
'_capsule'
Robot
.
urdfSuffix
=
'_capsule'
...
@@ -15,7 +16,9 @@ wcl = WSClient ()
...
@@ -15,7 +16,9 @@ wcl = WSClient ()
q0
=
robot
.
getInitialConfig
()
q0
=
robot
.
getInitialConfig
()
constraintName
=
"balance"
constraintName
=
"balance"
wcl
.
problem
.
addStaticStabilityConstraints
(
constraintName
,
q0
,
robot
.
leftAnkle
,
robot
.
rightAnkle
)
wcl
.
problem
.
addStaticStabilityConstraints
(
constraintName
,
q0
,
robot
.
leftAnkle
,
robot
.
rightAnkle
,
""
,
Problem
.
SLIDING
)
balanceConstraints
=
[
constraintName
+
"/relative-com"
,
balanceConstraints
=
[
constraintName
+
"/relative-com"
,
constraintName
+
"/relative-orientation"
,
constraintName
+
"/relative-orientation"
,
constraintName
+
"/relative-position"
,
constraintName
+
"/relative-position"
,
...
...
script/test_rrt.py
View file @
ef6dbe6b
...
@@ -4,6 +4,7 @@ from hpp.gepetto import Viewer, PathPlayer
...
@@ -4,6 +4,7 @@ from hpp.gepetto import Viewer, PathPlayer
from
hpp.corbaserver.hrp2
import
Robot
from
hpp.corbaserver.hrp2
import
Robot
from
hpp.corbaserver
import
ProblemSolver
from
hpp.corbaserver
import
ProblemSolver
from
hpp.corbaserver.wholebody_step.client
import
Client
as
WsClient
from
hpp.corbaserver.wholebody_step.client
import
Client
as
WsClient
from
hpp.corbaserver.wholebody_step
import
Problem
Robot
.
urdfSuffix
=
'_capsule'
Robot
.
urdfSuffix
=
'_capsule'
Robot
.
srdfSuffix
=
'_capsule'
Robot
.
srdfSuffix
=
'_capsule'
...
@@ -21,7 +22,8 @@ r (q0)
...
@@ -21,7 +22,8 @@ r (q0)
# Add constraints
# Add constraints
wcl
=
WsClient
()
wcl
=
WsClient
()
wcl
.
problem
.
addStaticStabilityConstraints
(
"balance"
,
q0
,
robot
.
leftAnkle
,
wcl
.
problem
.
addStaticStabilityConstraints
(
"balance"
,
q0
,
robot
.
leftAnkle
,
robot
.
rightAnkle
,
""
)
robot
.
rightAnkle
,
""
,
Problem
.
SLIDING
)
ps
.
setNumericalConstraints
(
"balance"
,
[
"balance/relative-com"
,
ps
.
setNumericalConstraints
(
"balance"
,
[
"balance/relative-com"
,
"balance/relative-orientation"
,
"balance/relative-orientation"
,
...
...
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