hrpsys: hrp4c-motion.py Source File

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00001 #!/usr/bin/env python
00002 
00003 """
00004  this is example file for HRP4-C robot
00005 
00006  $ roslaunch hrpsys hrp4c.launch
00007  $ rosrun    hrpsys hrp4c-motion.py
00008 
00009 If you does not have hrp4c robot model, download the data first
00010  $ rosrun    hrpsys hrp4c_model_download.sh
00011 
00012 """
00013 import imp, sys, os
00014 
00015 sys.path.append(imp.find_module('hrpsys')[1]) # set path to hrpsys
00016 sys.path.append(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/HRP4C/') # set path to PA10
00017 
00018 #os.environ['ORBInitRef'] = 'NameService=corbaloc:iiop:{0}:{1}/NameService'.format('localhost','2809')
00019 
00020 import HRP4C
00021 HRP4C.rtm.initCORBA()
00022 HRP4C.init()
00023 HRP4C.loadPattern(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/HRP4C/data/hear')
00024 HRP4C.loadPattern(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/HRP4C/data/bow')
00025 HRP4C.loadPattern(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/HRP4C/data/roate_waist')
00026 HRP4C.loadPattern(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/HRP4C/data/warmup_r')
00027 HRP4C.loadPattern(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/HRP4C/data/warmup_y')
00028 HRP4C.loadPattern(os.path.dirname(os.path.abspath(__file__))+'/../share/hrpsys/samples/HRP4C/data/walk2m')
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