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."