openhubo.TIMESTEP=ha.HUBO_LOOP_PERIOD
print 'No Dynamics mode'
else:
options.physics=True
options.stop=True
#Enable simtime if required, or if force by physics
options.simtime = (simtimeFlag == 'simtime') or options.physics
# Detect Load robot and scene based on openhubo version
if oh_version=='0.8.0':
[robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options)
elif oh_version=='0.7.0':
[robot,ctrl,ind,ghost,recorder]=openhubo.load_scene(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost)
else:
[robot,ctrl,ind,ghost,recorder]=openhubo.load(env,options.robotfile,options.scenefile,options.stop, options.physics, options.ghost)
# Setup ACH channels to interface with hubo
s = ach.Channel(ha.HUBO_CHAN_STATE_NAME)
s.flush()
state = ha.HUBO_STATE()
ts = ach.Channel(ha.HUBO_CHAN_VIRTUAL_TO_SIM_NAME)
ts.flush()
sim = ha.HUBO_VIRTUAL()
fs = ach.Channel(ha.HUBO_CHAN_VIRTUAL_FROM_SIM_NAME)
fs.flush()
virtualHuboLog('Starting Simulation...',3)
#Enable simtime if required, or if force by physics
options.simtime = (simtimeFlag == 'simtime') or options.physics
# Detect Load robot and scene based on openhubo version
if oh_version == '0.8.0':
[robot, ctrl, ind, ghost, recorder] = openhubo.load_scene(env, options)
elif oh_version == '0.7.0':
[robot, ctrl, ind, ghost,
recorder] = openhubo.load_scene(env, options.robotfile,
options.scenefile, options.stop,
options.physics, options.ghost)
else:
[robot, ctrl, ind, ghost,
recorder] = openhubo.load(env, options.robotfile, options.scenefile,
options.stop, options.physics,
options.ghost)
# Setup ACH channels to interface with hubo
s = ach.Channel(ha.HUBO_CHAN_STATE_NAME)
s.flush()
state = ha.HUBO_STATE()
ts = ach.Channel(ha.HUBO_CHAN_VIRTUAL_TO_SIM_NAME)
ts.flush()
sim = ha.HUBO_VIRTUAL()
fs = ach.Channel(ha.HUBO_CHAN_VIRTUAL_FROM_SIM_NAME)
fs.flush()
virtualHuboLog('Starting Simulation...', 3)
flag = args[0]
except:
flag = -1
try:
simtimeFlag = args[1]
except:
simtimeFlag = -1
(env,options)=openhubo.setup('qtcoin',True)
env.SetDebugLevel(4)
time.sleep(.25)
if( 'nophysics' == flag ):
print 'No Dynamic mode'
[robot,ctrl,ind,ref,recorder]=openhubo.load(env,options.robotfile,options.scenefile,True, None, True) # this will disable physics
else:
[robot,ctrl,ind,ref,recorder]=openhubo.load(env,options.robotfile,options.scenefile,True)
ctrl.SendCommand('set radians ')
time.sleep(.5)
env.StartSimulation(openhubo.TIMESTEP)
time.sleep(.5)
#Change the pose to lift the elbows and send
# Hubo-Ach Start and setup:
s = ach.Channel(ha.HUBO_CHAN_STATE_NAME)
s.flush()
state = ha.HUBO_STATE()
skiptemp = skiptemp/100.0
if self.name:
print '[%s]' % self.name,
# print 'Elapsed: %s' % (time.time() - self.tstart)
print 'Elapsed: ',skiptemp,' sec : ', (ha.HUBO_LOOP_PERIOD/skiptemp * 100.0),' percent'
skipi = 0
if __name__=='__main__':
(env,options)=openhubo.setup('qtcoin',True)
env.SetDebugLevel(4)
time.sleep(.25)
[robot,ctrl,ind,ref,recorder]=openhubo.load(env,options.robotfile,options.scenefile,True)
time.sleep(.5)
env.StartSimulation(openhubo.TIMESTEP)
time.sleep(.5)
#Change the pose to lift the elbows and send
ctrl.SendCommand('set radians ')
# Hubo-Ach Start and setup:
s = ach.Channel(ha.HUBO_CHAN_STATE_NAME)
s.flush()
state = ha.HUBO_STATE()
ts = ach.Channel(ha.HUBO_CHAN_VIRTUAL_TO_SIM_NAME)
ts.flush()
