test_jimp_planning.py File Reference

Runs test for jnt_imp mode motion and planning. More...

Go to the source code of this file.

Namespaces
	scripts.test_jimp_planning
	Integration test.

Variables
dictionary	scripts.test_jimp_planning.q_map_starting
dictionary	scripts.test_jimp_planning.q_map_goal
	scripts.test_jimp_planning.anonymous
	scripts.test_jimp_planning.velma = VelmaInterface()
	scripts.test_jimp_planning.timeout_s
	scripts.test_jimp_planning.diag = velma.getCoreCsDiag()
	scripts.test_jimp_planning.p = Planner(velma.maxJointTrajLen())
	scripts.test_jimp_planning.start_time
	scripts.test_jimp_planning.error = velma.waitForJoint()
	scripts.test_jimp_planning.js = velma.getLastJointState()
	scripts.test_jimp_planning.tolerance
	scripts.test_jimp_planning.goal_constraint_1 = qMapToConstraints(q_map_goal, 0.01, group=velma.getJointGroup("impedance_joints"))
	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")
	scripts.test_jimp_planning.position_tol
	scripts.test_jimp_planning.pi
	scripts.test_jimp_planning.velocity_tol
	scripts.test_jimp_planning.goal_constraint_2 = qMapToConstraints(q_map_starting, 0.01, group=velma.getJointGroup("impedance_joints"))

Detailed Description

Runs test for jnt_imp mode motion and planning.

Definition in file test_jimp_planning.py.