#------------------------------------------------------------------------------- # # Create the robot with the desc module. # # The goal is to make a general description of the robot. # The robot is then create in the physical scene with # the deserializeWorld method. # #------------------------------------------------------------------------------- import iCubcommon world = iCubcommon.add_iCub(damping=1, H_init=[0,0,1,1,0,0,0], fixed_base=False) iCubcommon.add_iCub_meshes(world, createComposite=True, compositeOffset=0.001) iCubcommon.addGround(world) iCubcommon.addContactLaws(world) iCubcommon.addCollisionPairs(world) ##### Deserialize world: register world description in phy & graph agents import agents.graphic.builder import agents.physic.builder print "deserializeWorld..." print "graphic..." agents.graphic.builder.deserializeWorld(graph, gInterface, world) print "and physic..." agents.physic.builder.deserializeWorld(phy, ms, lmd, world) print "... done."
#------------------------------------------------------------------------------- # # Create the robot with the desc module. # # The goal is to make a general description of the robot. # The robot is then create in the physical scene with # the deserializeWorld method. # #------------------------------------------------------------------------------- import iCubcommon world = iCubcommon.add_iCub(damping=1, H_init=[0,0,1,1,0,0,0], fixed_base=False) iCubcommon.add_iCub_meshes(world, useCollisionMeshes=True, createComposite=True, compositeOffset=0.001) iCubcommon.addGround(world) iCubcommon.addContactLaws(world) iCubcommon.addCollisionPairs(world) ##### Deserialize world: register world description in phy & graph agents import agents.graphic.builder import agents.physic.builder print "deserializeWorld..." print "graphic..." agents.graphic.builder.deserializeWorld(graph, gInterface, world) print "and physic..." agents.physic.builder.deserializeWorld(phy, ms, lmd, world) print "... done."
#-------------------------------------------------------------------------------
#
# Create the robot with the desc module.
#
# The goal is to make a general description of the robot.
# The robot is then create in the physical scene with
# the deserializeWorld method.
#
#-------------------------------------------------------------------------------
import iCubcommon
world = iCubcommon.add_iCub(H_init=[0,0,0,1,0,0,0], fixed_base=True)
iCubcommon.add_iCub_meshes(world)
import desc.core
##### Deserialize world: register world description in phy & graph agents
import agents.graphic.builder
import agents.physic.builder
print "deserializeWorld..."
print "graphic..."
agents.graphic.builder.deserializeWorld(graph, gInterface, world)
print "and physic..."
agents.physic.builder.deserializeWorld(phy, ms, lmd, world)
print "... done."
phy.s.GVM.Robot("iCub").enableGravity(False)