samplerobot_walk.py
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00001 #!/usr/bin/env python
00002 
00003 try:
00004     from hrpsys.hrpsys_config import *
00005     import OpenHRP
00006 except:
00007     print "import without hrpsys"
00008     import rtm
00009     from rtm import *
00010     from OpenHRP import *
00011     import waitInput
00012     from waitInput import *
00013     import socket
00014     import time
00015 
00016 def getRTCList ():
00017     return [
00018         ['seq', "SequencePlayer"],
00019         ['sh', "StateHolder"],
00020         ['fk', "ForwardKinematics"]
00021         ]
00022 
00023 def init ():
00024     global hcf
00025     hcf = HrpsysConfigurator()
00026     hcf.getRTCList = getRTCList
00027     hcf.init ("SampleRobot(Robot)0")
00028 
00029 def loadPattern(basename, tm=1.0):
00030     hcf.loadPattern(basename, tm)
00031     hcf.waitInterpolation()
00032 
00033 def demo():
00034     init()
00035     loadPattern("$(PROJECT_DIR)/../controller/SampleController/etc/Sample")
00036 
00037 if __name__ == '__main__':
00038     demo()


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:56