pose.useregex=True
pose[mask]=T
(env,options)=oh.setup('qtcoin')
env.SetDebugLevel(3)
options.scenefile='gripper.env.xml'
options.robotfile=None
options.physics='ode'
options.stop=True
[robot,ctrl,ind,ref,recorder]=oh.load_scene(env,options)
rod=env.GetKinBody('rod')
trans=rod.GetTransform()
pose=oh.Pose(robot)
success=False
strength=0
oh.set_robot_color(robot,[.7,.7,.7],[.7,.7,.7],0.0)
oh.set_finger_torquemode(robot)
#recorder.realtime=False
#recorder.filename='griptest.avi'
#recorder.start()
while not success:
strength+=.2
print "Added torque {}".format(strength)
rod.SetVelocity(zeros(3),zeros(3))
rod.SetTransform(trans)
print "Mass is {}".format(rod.GetLinks()[0].GetMass())
env.GetPhysicsEngine().SetGravity([0, 0, 0])
from optparse import OptionParser
import time
import openravepy
import openhubo
from openhubo import kbhit
if __name__ == "__main__":
"""Modified version of contact display from openrave examples"""
(env,options)=openhubo.setup('qtcoin',True)
env.SetDebugLevel(2)
time.sleep(.25)
[robot,ctrl,ind,ref,recorder]=openhubo.load_scene(env,options)
stop=False
# Set the floor and other bodies to be slightly transparent to better visualize interpenetrations
for b in env.GetBodies():
if not b == robot:
openhubo.set_robot_color(b,trans=.3)
while not stop:
handles=openhubo.plot_contacts(robot)
#handles=openhubo.plot_dirs(robot)
openhubo.sleep(.05)
if kbhit.kbhit(True):
stop=True
pose[mask] = T
(env, options) = oh.setup('qtcoin')
env.SetDebugLevel(3)
options.scenefile = 'gripper.env.xml'
options.robotfile = None
options.physics = 'ode'
options.stop = True
[robot, ctrl, ind, ref, recorder] = oh.load_scene(env, options)
rod = env.GetKinBody('rod')
trans = rod.GetTransform()
pose = oh.Pose(robot)
success = False
strength = 0
oh.set_robot_color(robot, [.7, .7, .7], [.7, .7, .7], 0.0)
oh.set_finger_torquemode(robot)
#recorder.realtime=False
#recorder.filename='griptest.avi'
#recorder.start()
while not success:
strength += .2
print "Added torque {}".format(strength)
rod.SetVelocity(zeros(3), zeros(3))
rod.SetTransform(trans)
print "Mass is {}".format(rod.GetLinks()[0].GetMass())
env.GetPhysicsEngine().SetGravity([0, 0, 0])
print "starting..."
__license__ = 'Apache License, Version 2.0'
from optparse import OptionParser
import time
import openravepy
import openhubo
from openhubo import kbhit
if __name__ == "__main__":
"""Modified version of contact display from openrave examples"""
(env, options) = openhubo.setup('qtcoin', True)
env.SetDebugLevel(2)
time.sleep(.25)
[robot, ctrl, ind, ref, recorder] = openhubo.load_scene(env, options)
stop = False
# Set the floor and other bodies to be slightly transparent to better visualize interpenetrations
for b in env.GetBodies():
if not b == robot:
openhubo.set_robot_color(b, trans=.3)
while not stop:
handles = openhubo.plot_contacts(robot)
#handles=openhubo.plot_dirs(robot)
openhubo.sleep(.05)
if kbhit.kbhit(True):
stop = True
