예제 #1
0
                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."
예제 #2
0


#-------------------------------------------------------------------------------
#
# 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."