# @author Hisashi Ikari
import sys
import cnoid.Util as util
import cnoid.Base as base
import cnoid.Body as body
import cnoid.BodyPlugin as bp
import cnoid.SimpleControllerPlugin as simple
import minieigen as eigen
hrp = bp.BodyItem()
hrp.setName("HRP4C")
shared = util.shareDirectory()
hrp.loadModelFile(shared + "/model/ext/HRP4C/HRP4C.dae")
hrp.setZmp(eigen.Vector3(0.0, 0.0, 0.0))
hrpbody = hrp.body()
hrplink = hrpbody.createLink(hrpbody.rootLink())
print hrplink
print hrpbody.name()
print hrpbody.modelName()
hrpbody.setName("HRP4C!")
hrpbody.setModelName("HRP4C!!!")
hrproot = hrpbody.rootLink()
print hrproot
print hrproot.name()
hrpbody.updateLinkTree()
# @author Hisashi Ikari
import sys
import cnoid.Util as util
import cnoid.Base as base
import cnoid.Body as body
import cnoid.BodyPlugin as bp
import cnoid.SimpleControllerPlugin as simple
import minieigen as eigen
shared = util.shareDirectory()
top = util.executableTopDirectory()
bodyitem = bp.BodyItem()
bodyitem.setName("Hello, Choreonoid")
bodyitem.loadModelFile(shared + "/model/GR001/GR001.dae")
bodyitem.moveToOrigin()
gr = bodyitem.body()
print gr
curr = bodyitem.currentBaseLink()
print curr
bodyitem.setCurrentBaseLink(curr)
bodyitem.setPresetPose(bp.PresetPoseID.INITIAL_POSE)
bodyitem.moveToOrigin()
bodyitem.copyKinematicState()
bodyitem.pasteKinematicState()
bodyitem.clearCollisions()
bodyitem.storeInitialState()
# @author Hisashi Ikari
from PySide import QtCore
from PySide import QtGui
import cnoid.Util as util
import cnoid.Base as base
top = util.executableTopDirectory()
icon = QtGui.QIcon(top + "/src/Base/icons/refresh.png")
timebar = base.TimeBar.instance()
button = timebar.addButton(icon, "This is a test by python-script")
def hello():
print "Hello PySide of Python by the qt4 signal system of C++"
button.clicked(hello)
# @author Hisashi Ikari
import sys
import cnoid.Util as util
import cnoid.Base as base
import cnoid.Body as body
import cnoid.BodyPlugin as bp
import cnoid.SimpleControllerPlugin as simple
import minieigen as eigen
hrp = bp.BodyItem()
hrp.setName("HRP4C")
shared = util.shareDirectory()
hrp.loadModelFile(shared + "/model/ext/HRP4C/HRP4C.dae")
hrp.setZmp(eigen.Vector3(0.0, 0.0, 0.0))
hrpbody = hrp.body()
hrplink = hrpbody.createLink(hrpbody.rootLink())
print hrplink
print hrpbody.name()
print hrpbody.modelName()
hrpbody.setName("HRP4C!")
hrpbody.setModelName("HRP4C!!!")
hrproot = hrpbody.rootLink()
print hrproot
print hrproot.name()
hrpbody.updateLinkTree()
hrpbody.initializeState()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# @author Hisashi Ikari
import sys
import cnoid.Util as util
import cnoid.Base as base
import cnoid.Body as body
import cnoid.BodyPlugin as bp
import cnoid.SimpleControllerPlugin as simple
import minieigen as eigen
shared = util.shareDirectory()
top = util.executableTopDirectory()
root = base.RootItem.instance()
view = base.ItemTreeView.instance()
world = bp.WorldItem()
world.setName("World")
root.addChildItem(world)
time = base.TimeBar.instance()
time.setFillLevelSyncCheck(False)
time.setFrameRate(1000)
time.setPlaybackFrameRate(100)
time.setTimeRange(0.0, 5.0)
scene = base.SceneView.instance()
scene.setHeadLight(False)
# @author Hisashi Ikari
from PySide import QtCore
from PySide import QtGui
import cnoid.Util as util
import cnoid.Base as base
top = util.executableTopDirectory()
icon = QtGui.QIcon(top + '/src/Base/icons/refresh.png')
timebar = base.TimeBar.instance()
button = timebar.addButton(icon, "This is a test by python-script")
def hello():
print "Hello PySide of Python by the qt4 signal system of C++"
button.clicked(hello)
