def n():
mp.hlp_showNumber()
@optionalparentheses
def t():
mp.hlp_toggle()
mp.refresh()
@optionalparentheses
def dump():
history.dumpToOpenHRP('openhrp/yoga')
attime.addPing(VisualPinger(robot.viewer))
#-----------------------------------------------------------------------------
#---- DYN --------------------------------------------------------------------
#-----------------------------------------------------------------------------
modelDir = pkgDataRootDir[robotName]
xmlDir = pkgDataRootDir[robotName]
specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
dyn = Dynamic("dyn")
dyn.setFiles(modelDir, modelName[robotName], specificitiesPath, jointRankPath)
dyn.parse()
dyn.lowerJl.recompute(0)
@optionalparentheses
def m():
mp.hlp_mocapCoord()
mp.refresh()
@optionalparentheses
def n(): mp.hlp_showNumber()
@optionalparentheses
def t():
mp.hlp_toggle()
mp.refresh()
@optionalparentheses
def dump():
history.dumpToOpenHRP('openhrp/yoga')
attime.addPing( VisualPinger(robot.viewer) )
#-----------------------------------------------------------------------------
#---- DYN --------------------------------------------------------------------
#-----------------------------------------------------------------------------
modelDir = pkgDataRootDir[robotName]
xmlDir = pkgDataRootDir[robotName]
specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
dyn = Dynamic("dyn")
dyn.setFiles(modelDir, modelName[robotName],specificitiesPath,jointRankPath)
dyn.parse()
dyn.lowerJl.recompute(0)
# Add a visual output when an event is called.
class Ping:
def __init__(self):
self.pos = 1
self.refresh()
def refresh(self):
robot.viewer.updateElementConfig("pong", [0, 0.9, self.pos * 0.1, 0, 0, 0])
def __call__(self):
self.pos += 1
self.refresh()
ping = Ping()
attime.addPing(ping)
def goto6d(task, position, gain=None):
M = eye(4)
if len(position) == 3:
M[0:3, 3] = position
else:
print "Position 6D with rotation ... todo"
task.feature.selec.value = "111111"
if gain != None:
task.gain.setConstant(gain)
task.featureDes.position.value = matrixToTuple(M)
def contact(contact, task=None):
class Ping:
def __init__(self):
self.pos = 1
self.refresh()
def refresh(self):
robot.viewer.updateElementConfig('pong',
[0, 0.9, self.pos * 0.1, 0, 0, 0])
def __call__(self):
self.pos += 1
self.refresh()
ping = Ping()
attime.addPing(ping)
def goto6d(task, position, gain=None):
M = eye(4)
if (len(position) == 3): M[0:3, 3] = position
else: print "Position 6D with rotation ... todo"
task.feature.selec.value = "111111"
if gain != None: task.gain.setConstant(gain)
task.featureDes.position.value = matrixToTuple(M)
def contact(contact, task=None):
sot.addContactFromTask(contact.task.name, contact.name)
sot.signal("_" + contact.name + "_p").value = contact.support
if task != None: sot.rm(task.task.name)
