robot.ik.add_task(DOFTask(robot, robot.CHEST_Y, 0., gain=0.9, weight=0.05))
robot.ik.add_task(DOFTask(robot, robot.ROT_P, 0., gain=0.9, weight=0.05))
robot.solve_ik()
def record_video():
window_recorder.record_video = True
camera_travel.on_tick(sim)
time.sleep(2)
sim.start()
if __name__ == "__main__":
seed(24)
pylab.ion()
pymanoid.init(set_viewer=False)
robot = RobotModel(download_if_needed=True)
robot.set_transparency(0.3)
env = pymanoid.get_env()
env.SetViewer('qtcoin')
pymanoid.env.set_default_background_color()
viewer = pymanoid.get_viewer()
viewer.SetCamera(
[[5.39066316e-01, 3.61154816e-01, -7.60903874e-01, 6.57677031e+00],
[8.42254221e-01, -2.26944015e-01, 4.88982864e-01, -2.9774201e+00],
[3.91593606e-03, -9.04468691e-01, -4.26522042e-01, 2.25269456e+00],
[0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
contacts = generate_contacts()
com = PointMass([0, 0, 0], robot.mass, visible=False)
def draw_cdd_only_thread():
while True:
try:
# you can vary ``custom_mass`` to check that it has no effect
vertices = compute_static_polygon_cdd_only(contacts, custom_mass)
gui_handles['cdd_only'] = draw_com_polygon(vertices, black)
except Exception as e:
print "draw_cdd_only_thread:", e
continue
time.sleep(1e-2)
if __name__ == "__main__":
pymanoid.init()
robot = RobotModel(download_if_needed=True)
robot.set_transparency(0.2)
robot_mass = robot.mass
viewer = pymanoid.get_env().GetViewer()
viewer.SetCamera(
numpy.array([[0.60587192, -0.36596244, 0.70639274, -2.4904027],
[-0.79126787, -0.36933163, 0.48732874, -1.6965636],
[0.08254916, -0.85420468, -0.51334199, 2.79584694],
[0., 0., 0., 1.]]))
viewer.SetBkgndColor([1, 1, 1])
fname = sys.argv[1] if len(sys.argv) > 1 else '../stances/triple.json'
contacts = pymanoid.ContactSet.from_json(fname)
com_target = pymanoid.Cube(0.01, visible=True)
print "Did you move the target COM (blue box) out of the polygon?\n"
env_lock.release()
time.sleep(dt)
return handles
def recompute_polygon():
global polygon_handle
vertices = contacts.compute_static_equilibrium_polygon()
polygon_handle = pymanoid.draw_polygon(
[(x[0], x[1], z_polygon) for x in vertices],
normal=[0, 0, 1], color=(0.5, 0., 0.5, 0.5))
if __name__ == "__main__":
pymanoid.init()
robot = pymanoid.robots.JVRC1('JVRC-1.dae', download_if_needed=True)
pymanoid.get_viewer().SetCamera([
[0.60587192, -0.36596244, 0.70639274, -2.4904027],
[-0.79126787, -0.36933163, 0.48732874, -1.6965636],
[0.08254916, -0.85420468, -0.51334199, 2.79584694],
[0., 0., 0., 1.]])
robot.set_transparency(0.25)
contacts = pymanoid.ContactSet({
'left_foot': pymanoid.Contact(
X=0.2,
Y=0.1,
pos=[0.20, 0.15, 0.1],
rpy=[0, 0, 0],
friction=0.5,
[[0.79144370, 0.24411156, -0.56038061, 3.21349812],
[0.61108966, -0.29552771, 0.73432472, -2.30738068],
[0.01364915, -0.92361947, -0.38306759, 2.12724948], [0., 0., 0., 1.]])
cam_id = 1
def set_camera_2():
global cam_id
pymanoid.get_viewer().SetCamera([[0., -1., 0., 0.7], [-1., 0., 0., 0.3],
[0., 0., -1., 4.65], [0., 0., 0., 1.]])
cam_id = 2
if __name__ == '__main__':
init_ros()
pymanoid.init('editor/jvrc1_env.xml')
env = pymanoid.get_env()
collision_handle = env.RegisterCollisionCallback(collision_callback)
viewer = env.GetViewer()
motion_plan = MotionPlan(show_targets=gui_defaults['show_targets'])
robot = JVRC1()
robot.set_transparency(0.)
customize_joint_limits(robot)
pendulum = Pendulum(robot)
com_ghost = pymanoid.Cube(0.01,
robot.com,
color='g',
visible=motion_plan.show_targets)
com_real = pymanoid.Cube(0.01, robot.com, color='r', visible=True)
zmp_real = pymanoid.Cube(0.005, pendulum.zmp.pos, color='r', visible=True)