test_jimp_planning_attached.py File Reference

Runs test for jnt_imp mode motion and planning with objects attached to gripper. More...

Go to the source code of this file.

Classes
class	scripts.test_jimp_planning_attached.MarkerPublisherThread

Namespaces
	scripts.test_jimp_planning_attached
	Integration test.

Variables
	scripts.test_jimp_planning_attached.anonymous
	scripts.test_jimp_planning_attached.velma = VelmaInterface()
	scripts.test_jimp_planning_attached.timeout_s
	scripts.test_jimp_planning_attached.diag = velma.getCoreCsDiag()
	scripts.test_jimp_planning_attached.p = Planner(velma.maxJointTrajLen())
	scripts.test_jimp_planning_attached.js_start = velma.getLastJointState()
	scripts.test_jimp_planning_attached.start_time
	scripts.test_jimp_planning_attached.position_tol
	scripts.test_jimp_planning_attached.error = velma.waitForJoint()
	scripts.test_jimp_planning_attached.object1 = AttachedCollisionObject()
	scripts.test_jimp_planning_attached.link_name
	scripts.test_jimp_planning_attached.frame_id
	scripts.test_jimp_planning_attached.id
	scripts.test_jimp_planning_attached.object1_prim = SolidPrimitive()
	scripts.test_jimp_planning_attached.type
	scripts.test_jimp_planning_attached.dimensions
	scripts.test_jimp_planning_attached.object1_pose = pm.toMsg(PyKDL.Frame(PyKDL.Rotation.RotY(math.pi/2)))
	scripts.test_jimp_planning_attached.operation
	scripts.test_jimp_planning_attached.touch_links
	scripts.test_jimp_planning_attached.pub = MarkerPublisherThread(object1)
dictionary	scripts.test_jimp_planning_attached.q_map_goal
	scripts.test_jimp_planning_attached.goal_constraint_1 = qMapToConstraints(q_map_goal, 0.01, group=velma.getJointGroup("impedance_joints"))
	scripts.test_jimp_planning_attached.js = velma.getLastJointState()
	scripts.test_jimp_planning_attached.traj = p.plan(js[1], [goal_constraint_1], "impedance_joints", max_velocity_scaling_factor=0.15, planner_id="RRTConnect", attached_collision_objects=[object1])
dictionary	scripts.test_jimp_planning_attached.q_map_end
	scripts.test_jimp_planning_attached.goal_constraint_2 = qMapToConstraints(q_map_end, 0.01, group=velma.getJointGroup("impedance_joints"))

Detailed Description

Runs test for jnt_imp mode motion and planning with objects attached to gripper.

Definition in file test_jimp_planning_attached.py.