# Load libraries and setup agents # #------------------------------------------------------------------------------- import sys import os import inspect cpath = os.path.dirname(os.path.abspath(inspect.getfile( inspect.currentframe()))) + "/" sys.path.append(cpath) cpath = os.path.dirname(os.path.abspath(inspect.getfile( inspect.currentframe()))) + "/../common" sys.path.append(cpath) import common import lgsm phy, ms, lmd = common.get_physic_agent() graph, gInterface = common.get_graphic_agent() #------------------------------------------------------------------------------- # # Create the robot with the desc module. # # The goal is to make a general description of the robot. # The robot is then create in the physical scene with # the deserializeWorld method. # #-------------------------------------------------------------------------------
import sys
import os
import inspect
cpath = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) + "/"
sys.path.append(cpath)
import common
import lgsm
import time
time_step = 0.01
phy, ms, lmd = common.get_physic_agent(time_step)
graph, gInterface = common.get_graphic_agent()
world = common.create_world_and_deserialized(phy, ms, lmd, graph, gInterface)
# -------------------------------------------------------------------------------
#
# Create Connections between phy and graph
#
# -------------------------------------------------------------------------------
##### Connect physic and graphic agents to see bodies with markers
ocb = phy.s.Connectors.OConnectorBodyStateList.new("ocb", "bodyPosition")
graph.s.Connectors.IConnectorFrame.new("icf", "framePosition", "mainScene")
graph.getPort("framePosition").connectTo(phy.getPort("bodyPosition_H"))