def set_camera_1():
global cam_id
pymanoid.get_viewer().SetCamera(
[[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_0():
global cam_id
pymanoid.get_viewer().SetCamera(
[[5.62570981e-01, -4.66264164e-01, 6.82723678e-01, -1.87612975e+00],
[-8.26747455e-01, -3.18865212e-01, 4.63479905e-01, -1.98973417e+00],
[1.59276025e-03, -8.25180408e-01, -5.64867026e-01, 3.30956650e+00],
[0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
cam_id = 0
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)
free_foot = FreeFoot(color='c', visible=False)
preview_buffer = PreviewBuffer(com, free_foot)
fsm = StateMachine(robot,
contacts,
com,
free_foot,
'DS-R',
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,
visible=True),
'right_foot': pymanoid.Contact(
X=0.2,
Y=0.1,
os.system('import -window %s %s' % (window_id, fname))
frame_index += 1
for _ in xrange(int(framerate * duration)):
next_fname = './recording/full_area/%05d.png' % frame_index
os.system('cp %s %s' % (fname, next_fname))
frame_index += 1
if __name__ == '__main__':
if '--benchmark' not in sys.argv:
print "\nUsage: %s [-c[0-3]] [--benchmark] [--record]\n" % sys.argv[0]
pymanoid.init()
# viewer.SetBkgndColor([.7, .7, .9])
pymanoid.get_viewer().SetCamera(array(
[[0.43294998, -0.40765653, 0.80397168, -1.7904253],
[-0.90127634, -0.17995773, 0.39410173, -0.99202776],
[-0.01597723, -0.89522699, -0.44532388, 1.42718434],
[0., 0., 0., 1.]]))
plane_origin = pymanoid.Box(
X=0.1,
Y=0.1,
Z=0.1,
pos=[-0.5, -1.5, 0.],
color='b')
if '-c0' in sys.argv:
contacts = pymanoid.ContactSet({
'C1': pymanoid.Contact(
X=0.01,
Y=0.01,
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
def set_camera_1():
pymanoid.get_viewer().SetCamera([
[1., 0., 0., -7.74532557e-04],
[0., 0., 1., -4.99819374e+00],
[0., -1., 0., 1.7],
[0., 0., 0., 1.]])
def set_camera_0():
pymanoid.get_viewer().SetCamera([
[0.97248388, 0.01229851, -0.23264533, 2.34433222],
[0.21414823, -0.44041135, 0.87188209, -2.02105641],
[-0.0917368, -0.89771186, -0.43092664, 3.40723848],
[0., 0., 0., 1.]])
