def instanciate(self, suf): if suf == '_l': self.NS1 = NS_L elif suf == '_r': self.NS1 = NS_R else: self.NS1 = None self.NS0 = NS0 print 'NS1:' + self.NS1 self.env = RtmEnv(sys.argv,[self.NS0, self.NS1]) self.make_starters(self.env, suf) run_components(self.env) #time.sleep(10) time.sleep(5) raw_input("are you sure that each rtc needed is running?") for ns in self.env.name_space : print self.env.name_space[ns].list_obj()#mh print "make_rtc_dict ---" self.make_rtc_dict(self.env, suf) print "assigne_variables---" self.assign_variables(self.env, suf) print "make_connectors ---" self.make_connectors(self.env, suf) # # configure slider # print "slider_conf ---" self.slider_conf="[('j1',-1,1,0.01,200),('j2',-1,1,0.01,200),('j3',-1,1,0.01,200),('j4',-1,1,0.01,200),('j5',-1,1,0.01,200),('j6',-1,1,0.01,200),('j7',-1,1,0.01,200)]" self.slider.set_conf_activate('default','channels',self.slider_conf) # # make pipe from this process to pa10vel, frm_ctrl # self.mgr = main() self.complist = self.mgr.getComponents() print self.complist self.comp = self.mgr.getComponents()[0] print "make_pipe(comp,pa10vel)------------------------------------" self.pa10vel.name = self.pa10vel.name + suf make_pipe(self.comp,self.pa10vel) print "make_pipe(comp,frm_ctrl)-----------------------------------" make_pipe(self.comp,self.frm_ctrl) # my additional pipe print "make_pipe(comp,pa10fk)-------------------------------------" self.pa10fk.name = self.pa10fk.name + suf make_pipe(self.comp,self.pa10fk) print "make_pipe(comp,mikxer)-------------------------------------" make_pipe(self.comp,self.mixer) #print "make_pipe(comp,fSensor)-------------------------------------" #make_pipe(self.comp,self.fSensor) # # for visual # self.vMod = pa10Model.pa10ModelClass()
LL.j_now=LL.pa10vel.out_pipe['th'].read() if RR.pa10vel.out_pipe['th'].pipe.isNew() : RR.j_now=RR.pa10vel.out_pipe['th'].read() LL.vMod.set_joints(LL.j_now) RR.vMod.set_joints(RR.j_now) LL.vMod.collisionDetect() RR.vMod.collisionDetect() LL.vMod.clearCollisionFlag() RR.vMod.clearCollisionFlag() LL = pa10Class() #LL.instanciate("_l") LL.vMod = pa10Model.pa10ModelClass() LL.vMod.base.set_trans(FRAME(xyzabc = [0, (0.500+0.300)/2 ,0, 0,0,0])) RR = pa10Class() #RR.instanciate("_r") RR.vMod = pa10Model.pa10ModelClass() RR.vMod.base.set_trans(FRAME(xyzabc = [0,-(0.500+0.300)/2 ,0, 0,0,0])) for link in RR.vMod.links: for d4c in link.d4c: LL.vMod.ccList.append(d4c) for link in LL.vMod.links: for d4c in link.d4c: RR.vMod.ccList.append(d4c)