hrp.py
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00001 from org.omg.CORBA import *
00002 from org.omg.CosNaming import *
00003 from org.omg.CosNaming.NamingContextPackage import *
00004 
00005 from java.lang import System
00006 from jp.go.aist.hrp.simulator import *
00007 
00008 import string, math
00009 
00010 rootnc = None
00011 
00012 def unbindObject(objname):
00013         nc = NameComponent(objname, "")
00014         path = [nc]
00015         rootnc.unbind(path)
00016         return None
00017 
00018 def initCORBA():
00019         global rootnc, orb
00020         props = System.getProperties()
00021         
00022         args = string.split(System.getProperty("NS_OPT"))
00023         orb = ORB.init(args, props)
00024 
00025         nameserver = orb.resolve_initial_references("NameService");
00026         rootnc = NamingContextHelper.narrow(nameserver);
00027         return None
00028 
00029 def getRootNamingContext(corbaloc):
00030         props = System.getProperties()
00031         
00032         args = ["-ORBInitRef", corbaloc]
00033         orb = ORB.init(args, props)
00034 
00035         nameserver = orb.resolve_initial_references("NameService");
00036         return NamingContextHelper.narrow(nameserver);
00037 
00038 def findObject(objname, rnc=None):
00039         nc = NameComponent(objname,"")
00040         path = [nc]
00041         if not rnc:
00042                 rnc = rootnc
00043         return rnc.resolve(path)
00044 
00045 def findReceiver(objname, rnc=None):
00046         try:
00047                 obj = findObject(objname, rnc)
00048                 return CommandReceiverHelper.narrow(obj)
00049         except:
00050                 print "exception in findReceiver("+objname+")"
00051 
00052 def findPlugin(name, rnc=None):
00053         try:
00054                 obj = findObject(name, rnc)
00055                 return PluginHelper.narrow(obj)
00056         except:
00057                 return None
00058 
00059 def findPluginManager(name, rnc=None):
00060         try:
00061                 obj = findObject(name, rnc)
00062                 return PluginManagerHelper.narrow(obj)
00063         except:
00064                 print "exception in findPluginManager"
00065 
00066 def findWalkPlugin(name, rnc=None):
00067         try:
00068                 obj = findObject(name, rnc)
00069                 return walkpluginHelper.narrow(obj)
00070         except:
00071                 print "exception in findWalkPlugin"
00072 
00073 def findSeqPlugin(name, rnc=None):
00074         try:
00075                 obj = findObject(name, rnc)
00076                 return SequencePlayerHelper.narrow(obj)
00077         except:
00078                 print "exception in findSeqPlugin"
00079 
00080 def findLogPlugin(name, rnc=None):
00081         try:
00082                 return LoggerPluginHelper.narrow(findObject(name, rnc))
00083         except:
00084                 print "exception in findLogPlugin"
00085 
00086 def findDynamicsPlugin(name, rnc=None):
00087         try:
00088                 return dynamicsPluginHelper.narrow(findObject(name, rnc))
00089         except:
00090                 return None
00091 
00092 def findStateProvider(name, rnc=None):
00093         try:
00094                 return stateProviderHelper.narrow(findObject(name, rnc))
00095         except:
00096                 return None
00097         
00098 def findStereoVision(rnc=None):
00099         try:
00100                 return StereoVisionHelper.narrow(findObject("StereoVision", rnc))
00101         except:
00102                 return None
00103 
00104 def findStabilizerPlugin(name, rnc=None):
00105         try:
00106                 return findPlugin(name, rnc)
00107         except:
00108                 print "exception in findStabilizerPlugin"
00109                 return None
00110 
00111 def findIoControlPlugin(name, rnc=None):
00112         try:
00113                 return IoControlPluginHelper.narrow(findObject(name, rnc))
00114         except:
00115                 return None
00116 
00117 def findModelLoader(rnc=None):
00118         try:
00119                 return ModelLoaderHelper.narrow(findObject("ModelLoader", rnc))
00120         except:
00121                 return None
00122         
00123 def findPositionSensor(rnc=None):
00124         try:
00125                 return positionSensorHelper.narrow(findObject("positionSensor", rnc))
00126         except:
00127                 return None
00128 
00129 def findSpeakServer(rnc=None):
00130         try:
00131                 return SpeakServerHelper.narrow(findObject("speakFactory", rnc))
00132         except:
00133                 return None
00134 
00135 def findOnlineViewer(rnc=None):
00136         try:
00137                 return OnlineViewerHelper.narrow(findObject("OnlineViewer", rnc))
00138         except:
00139                 return None
00140 
00141 def findDynamicsSimulatorFactory(rnc=None):
00142         try:
00143                 return DynamicsSimulatorFactoryHelper.narrow(findObject("DynamicsSimulatorFactory", rnc))
00144         except:
00145                 return None
00146 
00147 def findControllerFactory(name, rnc=None):
00148         try:
00149                 return ControllerFactoryHelper.narrow(findObject(name, rnc))
00150         except:
00151                 return None
00152 
00153 def findCollisionDetectorFactory(rnc=None):
00154         try:
00155                 return CollisionDetectorFactoryHelper.narrow(findObject("CollisionDetectorFactory", rnc))
00156         except:
00157                 return None
00158                                                        
00159 
00160 def degrees(x):
00161         return x*180/math.pi
00162 
00163 
00164 def radians(x):
00165         return x*math.pi/180
00166 
00167 def loadVRML(url):
00168         ml = findModelLoader()
00169         if ml == None:
00170                 return None
00171         model = ml.loadURL(url)
00172         co = model.getCharObject()
00173         model.destroy()
00174         return co
00175 
00176 initCORBA()


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:16