def createPublisher(self, values_to_publish):
"""Creates a publisher on the next available port. If you'd like a custom real time
graph simply call this method with a list of what you want graphed and then hook up a
consumer that graphs the output (SimulationKit.pubsub.Subscriber).
"""
pub = Publisher(self.next_publisher_port)
self.next_publisher_port += 1
for val in values_to_publish:
pub.addToCatalog("logging."+val, self.__getattr__("get_"+val))
pub.start()
return pub
def createPublisher(self, values_to_publish):
"""Creates a publisher on the next available port. If you'd like a custom real time
graph simply call this method with a list of what you want graphed and then hook up a
consumer that graphs the output (SimulationKit.pubsub.Subscriber).
"""
pub = Publisher(self.next_publisher_port)
self.next_publisher_port += 1
for val in values_to_publish:
pub.addToCatalog("logging." + val, self.__getattr__("get_" + val))
pub.start()
return pub
# Check command-line arguments to find the planner module
retval = importPlanner()
# FIXME: This is to allow backwards compatibility to older versions of importPlanner
if type(retval) == tuple:
if len(retval) == 3:
update, controller, graceful_exit = retval
elif len(retval) == 2:
update, controller = retval
else:
update = retval
controller = None
commands = [0, 0, 0]
publisher = Publisher(5055)
if controller != None:
publisher.addToCatalog('yaw_ang_target', controller.getDesiredYawDeg)
publisher.addToCatalog('pitch_ang_target', controller.getDesiredPitchDeg)
publisher.addToCatalog('knee_ang_target', controller.getDesiredKneeDeg)
publisher.addToCatalog('yaw_cmd', lambda: commands[0])
publisher.addToCatalog('pitch_cmd', lambda: commands[1])
publisher.addToCatalog('knee_cmd', lambda: commands[2])
d = {'offset': (0, 0, 2.00)}
s = Simulator(dt=5e-3,
plane=1,
pave=0,
graphical=1,
robot=LegOnColumn,
robot_kwargs=d,
# Check command-line arguments to find the planner module
retval = importPlanner()
# FIXME: This is to allow backwards compatibility to older versions of importPlanner
if type(retval) == tuple:
if len(retval)==3:
update, controller, graceful_exit = retval
elif len(retval)==2:
update, controller = retval
else:
update = retval
controller = None
commands = [0,0,0]
publisher = Publisher(5055)
if controller != None:
publisher.addToCatalog( 'yaw_ang_target' , controller.getDesiredYawDeg )
publisher.addToCatalog( 'pitch_ang_target' , controller.getDesiredPitchDeg )
publisher.addToCatalog( 'knee_ang_target' , controller.getDesiredKneeDeg )
publisher.addToCatalog( 'yaw_cmd' , lambda: commands[0] )
publisher.addToCatalog( 'pitch_cmd' , lambda: commands[1] )
publisher.addToCatalog( 'knee_cmd' , lambda: commands[2] )
d = {'offset':(0,0,2.00)}
s = Simulator(dt=5e-3,plane=1,pave=0,graphical=1,robot=LegOnColumn,robot_kwargs=d, start_paused = 1, render_objs=1, draw_contacts=1, publish_int=20)
yaw_joint = s.robot.joints['hip_yaw']
pitch_joint = s.robot.joints['hip_pitch']
knee_joint = s.robot.joints['knee_pitch']
yaw_joint_bl = s.robot.joints['hip_yaw_bl']
