本文整理汇总了Python中hpp.corbaserver.ProblemSolver.lockDof方法的典型用法代码示例。如果您正苦于以下问题：Python ProblemSolver.lockDof方法的具体用法？Python ProblemSolver.lockDof怎么用？Python ProblemSolver.lockDof使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类hpp.corbaserver.ProblemSolver的用法示例。
在下文中一共展示了ProblemSolver.lockDof方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: WsClient
# 需要导入模块: from hpp.corbaserver import ProblemSolver [as 别名]
# 或者: from hpp.corbaserver.ProblemSolver import lockDof [as 别名]
# Add constraints
wcl = WsClient ()
wcl.problem.addStaticStabilityConstraints ("balance", q0, robot.leftAnkle,
robot.rightAnkle)
ps = ProblemSolver (robot)
ps.setNumericalConstraints ("balance", ["balance/relative-com",
"balance/relative-orientation",
"balance/relative-position",
"balance/orientation-left-foot",
"balance/position-left-foot"])
# lock hands in closed position
lockedDofs = robot.leftHandClosed ()
for name, value in lockedDofs.iteritems ():
ps.lockDof (name, value, 0, 0)
lockedDofs = robot.rightHandClosed ()
for name, value in lockedDofs.iteritems ():
ps.lockDof (name, value, 0, 0)
q1 = [0.0, 0.0, 0.705, 1.0, 0., 0., 0.0, 0.0, 0.0, 0.0, 0.0, -0.4, 0, -1.2, -1.0, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.261799, -0.17453, 0.0, -0.523599, 0.0, 0.0, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0]
res = ps.applyConstraints (q1)
if res [0]:
q1proj = res [1]
else:
raise RuntimeError ("Failed to apply constraint.")