print " nj :", cc.nj[:]
print " normalForce:", cc.normalForce
i_contact = i_contact+1
tau = lgsm.zeros(model.nbInternalDofs())
self.tau_out.write(tau)
# 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 RX90common
world = RX90common.add_RX90_with_meshes()
RX90common.addGround(world)
RX90common.addContactLaws(world)
RX90common.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 RX90common world = RX90common.add_RX90_with_meshes() ##### Deserialize world: register world description in phy & graph agents import agents.graphic.builder import agents.physic.builder import desc.physic print "deserializeWorld..." print "graphic..." agents.graphic.builder.deserializeWorld(graph, gInterface, world) print "and physic..." agents.physic.builder.deserializeWorld(phy, ms, lmd, world) print "done."
