5 from java.lang
import System
20 props = System.getProperties()
22 args = string.split(System.getProperty(
"NS_OPT"))
23 orb = ORB.init(args, props)
25 nameserver = orb.resolve_initial_references(
"NameService");
26 rootnc = NamingContextHelper.narrow(nameserver);
30 props = System.getProperties()
32 args = [
"-ORBInitRef", corbaloc]
33 orb = ORB.init(args, props)
35 nameserver = orb.resolve_initial_references(
"NameService");
36 return NamingContextHelper.narrow(nameserver);
43 return rnc.resolve(path)
48 return CommandReceiverHelper.narrow(obj)
50 print(
"exception in findReceiver("+objname+
")")
55 return PluginHelper.narrow(obj)
62 return PluginManagerHelper.narrow(obj)
64 print(
"exception in findPluginManager")
69 return walkpluginHelper.narrow(obj)
71 print(
"exception in findWalkPlugin")
76 return SequencePlayerHelper.narrow(obj)
78 print(
"exception in findSeqPlugin")
82 return LoggerPluginHelper.narrow(
findObject(name, rnc))
84 print(
"exception in findLogPlugin")
88 return dynamicsPluginHelper.narrow(
findObject(name, rnc))
94 return stateProviderHelper.narrow(
findObject(name, rnc))
100 return StereoVisionHelper.narrow(
findObject(
"StereoVision", rnc))
108 print(
"exception in findStabilizerPlugin")
113 return IoControlPluginHelper.narrow(
findObject(name, rnc))
119 return ModelLoaderHelper.narrow(
findObject(
"ModelLoader", rnc))
125 return positionSensorHelper.narrow(
findObject(
"positionSensor", rnc))
131 return SpeakServerHelper.narrow(
findObject(
"speakFactory", rnc))
137 return OnlineViewerHelper.narrow(
findObject(
"OnlineViewer", rnc))
143 return DynamicsSimulatorFactoryHelper.narrow(
findObject(
"DynamicsSimulatorFactory", rnc))
149 return ControllerFactoryHelper.narrow(
findObject(name, rnc))
155 return CollisionDetectorFactoryHelper.narrow(
findObject(
"CollisionDetectorFactory", rnc))
171 model = ml.loadURL(url)
172 co = model.getCharObject()