def draw_cdd_only_thread():
while True:
try:
# you can vary ``custom_mass`` to check that it has no effect
vertices = compute_static_polygon_cdd_only(contacts, custom_mass)
gui_handles['cdd_only'] = draw_com_polygon(vertices, black)
except Exception as e:
print "draw_cdd_only_thread:", e
continue
time.sleep(1e-2)
if __name__ == "__main__":
pymanoid.init()
robot = RobotModel(download_if_needed=True)
robot.set_transparency(0.2)
robot_mass = robot.mass
viewer = pymanoid.get_env().GetViewer()
viewer.SetCamera(
numpy.array([[0.60587192, -0.36596244, 0.70639274, -2.4904027],
[-0.79126787, -0.36933163, 0.48732874, -1.6965636],
[0.08254916, -0.85420468, -0.51334199, 2.79584694],
[0., 0., 0., 1.]]))
viewer.SetBkgndColor([1, 1, 1])
fname = sys.argv[1] if len(sys.argv) > 1 else '../stances/triple.json'
contacts = pymanoid.ContactSet.from_json(fname)
com_target = pymanoid.Cube(0.01, visible=True)
outbox = pymanoid.Cube(0.02, color='b')
robot.ik.add_task(DOFTask(robot, robot.ROT_P, 0., gain=0.9, weight=0.05))
robot.solve_ik()
def record_video():
window_recorder.record_video = True
camera_travel.on_tick(sim)
time.sleep(2)
sim.start()
if __name__ == "__main__":
seed(24)
pylab.ion()
pymanoid.init(set_viewer=False)
robot = RobotModel(download_if_needed=True)
robot.set_transparency(0.3)
env = pymanoid.get_env()
env.SetViewer('qtcoin')
pymanoid.env.set_default_background_color()
viewer = pymanoid.get_viewer()
viewer.SetCamera(
[[5.39066316e-01, 3.61154816e-01, -7.60903874e-01, 6.57677031e+00],
[8.42254221e-01, -2.26944015e-01, 4.88982864e-01, -2.9774201e+00],
[3.91593606e-03, -9.04468691e-01, -4.26522042e-01, 2.25269456e+00],
[0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
contacts = generate_contacts()
com = PointMass([0, 0, 0], robot.mass, visible=False)
free_foot = FreeFoot(color='c', visible=False)
def suntan_hrp(ambient=0., diffuse=0.85):
with robot_lock:
robot.set_transparency(0)
for link in robot.rave.GetLinks():
if len(link.GetGeometries()) > 0:
geom = link.GetGeometries()[0]
geom.SetAmbientColor([ambient] * 3)
geom.SetDiffuseColor([diffuse] * 3)
if __name__ == "__main__":
seed(42)
pymanoid.init(set_viewer=False)
robot = RobotModel(download_if_needed=True)
robot_mass = robot.mass # saved here to avoid taking robot_lock
pymanoid.get_env().SetViewer('qtcoin')
viewer = pymanoid.get_viewer()
set_camera_0()
robot.set_transparency(0.3)
staircase = generate_staircase(
radius=1.4,
angular_step=0.5,
height=1.4,
roughness=0.5,
friction=0.7,
step_dim_x=0.2,
step_dim_y=0.1)