_["both"] = "2 grasps" _["left"] = "Left grasp" _["right"] = "Right grasp" _["free"] = "No grasp" # _["r_grasp"]="" # _["l_grasp"]="" # _["b_r_grasp"]="" # _["b_l_grasp"]="" # _["b_r_ungrasp"]="" # _["b_l_ungrasp"]="" _["move_free"] = "move_free" _["r_keep_grasp"] = "r_keep_grasp" _["l_keep_grasp"] = "l_keep_grasp" # 4}}} cg.setTextToTeXTranslation(_) cg.createNode(['both', 'right', 'left', 'free']) cg.setConstraints(node='free', numConstraints=['box_placement']) # Right hand {{{4 cg.setConstraints(node='right', grasps=['r_grasp']) cg.createWaypointEdge('free', 'right', 'r_grasp', nb=1, weight=10) cg.setConstraints(edge='r_grasp_e1', lockDof=lockbox) cg.setConstraints(node='r_grasp_n0', pregrasps=['r_pregrasp']) cg.setConstraints(edge='r_grasp_e0', lockDof=lockbox) # 4}}}
_["both"]="2 grasps" _["left"]="Left grasp" _["right"]="Right grasp" _["free"]="No grasp" # _["r_grasp"]="" # _["l_grasp"]="" # _["b_r_grasp"]="" # _["b_l_grasp"]="" # _["b_r_ungrasp"]="" # _["b_l_ungrasp"]="" _["move_free"]="move_free" _["r_keep_grasp"]="r_keep_grasp" _["l_keep_grasp"]="l_keep_grasp" # 4}}} cg.setTextToTeXTranslation (_) cg.createNode (['both', 'right', 'left', 'free']) cg.setConstraints (node='free', numConstraints=['box_placement']) # Right hand {{{4 cg.setConstraints (node='right', grasps=['r_grasp']) cg.createWaypointEdge ('free', 'right', 'r_grasp', nb=1, weight=10) cg.setConstraints (edge='r_grasp_e1', lockDof = lockbox) cg.setConstraints (node='r_grasp_n0', pregrasps = ['r_pregrasp']) cg.setConstraints (edge='r_grasp_e0', lockDof = lockbox) # 4}}}