# @author Hisashi Ikari import sys import cnoid.Util as util import cnoid.Base as base import cnoid.Body as body import cnoid.BodyPlugin as bp import cnoid.SimpleControllerPlugin as simple import minieigen as eigen hrp = bp.BodyItem() hrp.setName("HRP4C") shared = util.shareDirectory() hrp.loadModelFile(shared + "/model/ext/HRP4C/HRP4C.dae") hrp.setZmp(eigen.Vector3(0.0, 0.0, 0.0)) hrpbody = hrp.body() hrplink = hrpbody.createLink(hrpbody.rootLink()) print hrplink print hrpbody.name() print hrpbody.modelName() hrpbody.setName("HRP4C!") hrpbody.setModelName("HRP4C!!!") hrproot = hrpbody.rootLink() print hrproot print hrproot.name() hrpbody.updateLinkTree()
# @author Hisashi Ikari import sys import cnoid.Util as util import cnoid.Base as base import cnoid.Body as body import cnoid.BodyPlugin as bp import cnoid.SimpleControllerPlugin as simple import minieigen as eigen shared = util.shareDirectory() top = util.executableTopDirectory() bodyitem = bp.BodyItem() bodyitem.setName("Hello, Choreonoid") bodyitem.loadModelFile(shared + "/model/GR001/GR001.dae") bodyitem.moveToOrigin() gr = bodyitem.body() print gr curr = bodyitem.currentBaseLink() print curr bodyitem.setCurrentBaseLink(curr) bodyitem.setPresetPose(bp.PresetPoseID.INITIAL_POSE) bodyitem.moveToOrigin() bodyitem.copyKinematicState() bodyitem.pasteKinematicState() bodyitem.clearCollisions() bodyitem.storeInitialState()
# @author Hisashi Ikari from PySide import QtCore from PySide import QtGui import cnoid.Util as util import cnoid.Base as base top = util.executableTopDirectory() icon = QtGui.QIcon(top + "/src/Base/icons/refresh.png") timebar = base.TimeBar.instance() button = timebar.addButton(icon, "This is a test by python-script") def hello(): print "Hello PySide of Python by the qt4 signal system of C++" button.clicked(hello)
# @author Hisashi Ikari import sys import cnoid.Util as util import cnoid.Base as base import cnoid.Body as body import cnoid.BodyPlugin as bp import cnoid.SimpleControllerPlugin as simple import minieigen as eigen hrp = bp.BodyItem() hrp.setName("HRP4C") shared = util.shareDirectory() hrp.loadModelFile(shared + "/model/ext/HRP4C/HRP4C.dae") hrp.setZmp(eigen.Vector3(0.0, 0.0, 0.0)) hrpbody = hrp.body() hrplink = hrpbody.createLink(hrpbody.rootLink()) print hrplink print hrpbody.name() print hrpbody.modelName() hrpbody.setName("HRP4C!") hrpbody.setModelName("HRP4C!!!") hrproot = hrpbody.rootLink() print hrproot print hrproot.name() hrpbody.updateLinkTree() hrpbody.initializeState()
#!/usr/bin/env python # -*- coding: utf-8 -*- # @author Hisashi Ikari import sys import cnoid.Util as util import cnoid.Base as base import cnoid.Body as body import cnoid.BodyPlugin as bp import cnoid.SimpleControllerPlugin as simple import minieigen as eigen shared = util.shareDirectory() top = util.executableTopDirectory() root = base.RootItem.instance() view = base.ItemTreeView.instance() world = bp.WorldItem() world.setName("World") root.addChildItem(world) time = base.TimeBar.instance() time.setFillLevelSyncCheck(False) time.setFrameRate(1000) time.setPlaybackFrameRate(100) time.setTimeRange(0.0, 5.0) scene = base.SceneView.instance() scene.setHeadLight(False)
# @author Hisashi Ikari from PySide import QtCore from PySide import QtGui import cnoid.Util as util import cnoid.Base as base top = util.executableTopDirectory() icon = QtGui.QIcon(top + '/src/Base/icons/refresh.png') timebar = base.TimeBar.instance() button = timebar.addButton(icon, "This is a test by python-script") def hello(): print "Hello PySide of Python by the qt4 signal system of C++" button.clicked(hello)