scripts.test_jimp_planning Namespace Reference

Integration test. More...

Variables
dictionary	q_map_starting
dictionary	q_map_goal
	anonymous
	velma = VelmaInterface()
	timeout_s
	diag = velma.getCoreCsDiag()
	p = Planner(velma.maxJointTrajLen())
	start_time
	error = velma.waitForJoint()
	js = velma.getLastJointState()
	tolerance
	goal_constraint_1 = qMapToConstraints(q_map_goal, 0.01, group=velma.getJointGroup("impedance_joints"))
	traj = p.plan(js[1], [goal_constraint_1], "impedance_joints", num_planning_attempts=10, max_velocity_scaling_factor=0.15, planner_id="RRTConnect")
	position_tol
	pi
	velocity_tol
	goal_constraint_2 = qMapToConstraints(q_map_starting, 0.01, group=velma.getJointGroup("impedance_joints"))

Detailed Description

Integration test.

Variable Documentation

anonymous

scripts.test_jimp_planning.anonymous

Definition at line 61 of file test_jimp_planning.py.

diag

scripts.test_jimp_planning.diag = velma.getCoreCsDiag()

Definition at line 77 of file test_jimp_planning.py.

error

scripts.test_jimp_planning.error = velma.waitForJoint()

Definition at line 97 of file test_jimp_planning.py.

goal_constraint_1

scripts.test_jimp_planning.goal_constraint_1 = qMapToConstraints(q_map_goal, 0.01, group=velma.getJointGroup("impedance_joints"))

Definition at line 113 of file test_jimp_planning.py.

goal_constraint_2

scripts.test_jimp_planning.goal_constraint_2 = qMapToConstraints(q_map_starting, 0.01, group=velma.getJointGroup("impedance_joints"))

Definition at line 138 of file test_jimp_planning.py.

js

scripts.test_jimp_planning.js = velma.getLastJointState()

Definition at line 104 of file test_jimp_planning.py.

p

scripts.test_jimp_planning.p = Planner(velma.maxJointTrajLen())

Definition at line 83 of file test_jimp_planning.py.

pi

scripts.test_jimp_planning.pi

Definition at line 122 of file test_jimp_planning.py.

position_tol

scripts.test_jimp_planning.position_tol

Definition at line 122 of file test_jimp_planning.py.

q_map_goal

dictionary scripts.test_jimp_planning.q_map_goal

Initial value:

=  {'torso_0_joint':0, 'right_arm_0_joint':-0.3, 'right_arm_1_joint':-1.8,
        'right_arm_2_joint':-1.25, 'right_arm_3_joint':1.57, 'right_arm_4_joint':0, 'right_arm_5_joint':-0.5,
        'right_arm_6_joint':0, 'left_arm_0_joint':0.3, 'left_arm_1_joint':1.8, 'left_arm_2_joint':-1.25,
        'left_arm_3_joint':-0.85, 'left_arm_4_joint':0, 'left_arm_5_joint':0.5, 'left_arm_6_joint':0 }

Definition at line 56 of file test_jimp_planning.py.

q_map_starting

dictionary scripts.test_jimp_planning.q_map_starting

Initial value:

=  {'torso_0_joint':0, 'right_arm_0_joint':-0.3, 'right_arm_1_joint':-1.8,
        'right_arm_2_joint':1.25, 'right_arm_3_joint':0.85, 'right_arm_4_joint':0, 'right_arm_5_joint':-0.5,
        'right_arm_6_joint':0, 'left_arm_0_joint':0.3, 'left_arm_1_joint':1.8, 'left_arm_2_joint':-1.25,
        'left_arm_3_joint':-0.85, 'left_arm_4_joint':0, 'left_arm_5_joint':0.5, 'left_arm_6_joint':0 }

Definition at line 51 of file test_jimp_planning.py.

start_time

scripts.test_jimp_planning.start_time

Definition at line 96 of file test_jimp_planning.py.

timeout_s

scripts.test_jimp_planning.timeout_s

Definition at line 72 of file test_jimp_planning.py.

tolerance

scripts.test_jimp_planning.tolerance

Definition at line 105 of file test_jimp_planning.py.

traj

scripts.test_jimp_planning.traj = p.plan(js[1], [goal_constraint_1], "impedance_joints", num_planning_attempts=10, max_velocity_scaling_factor=0.15, planner_id="RRTConnect")

Definition at line 118 of file test_jimp_planning.py.

velma

scripts.test_jimp_planning.velma = VelmaInterface()

Definition at line 70 of file test_jimp_planning.py.

velocity_tol

scripts.test_jimp_planning.velocity_tol

Definition at line 122 of file test_jimp_planning.py.