00001 hostname='hiro014'
00002
00003 from java.lang import System
00004 System.setProperty('NS_OPT', '-ORBInitRef NameService=corbaloc:iiop:'+hostname+':2809/NameService')
00005
00006 import rtm
00007 from rtm import *
00008 from OpenHRP import *
00009
00010 def createComps():
00011 global seq, seq_svc
00012
00013 ms.load("SequencePlayer")
00014 print ms
00015 seq = findRTC("seq")
00016 print seq
00017 seq_svc = SequencePlayerServiceHelper.narrow(seq.service("service0"))
00018 print ms,seq,seq_svc
00019 print dir(seq_svc)
00020
00021 def init():
00022 global ms, hostname
00023
00024 ms = rtm.findRTCmanager(hostname=hostname)
00025
00026 print "creating components"
00027 createComps()
00028 print "initialized successfully"
00029
00030 def playPattern(tm=10.0):
00031 seq_svc.playPattern([[0, 0, 0,
00032 -0.0, 0, -1.75, 0.26, 0.16, 0.5,
00033 0.0, 0, -1.75, -0.26, 0.16, -0.5]], [], [], [tm])
00034 seq_svc.playPattern([[0, 0, 0,
00035 -0.0, 0, -1.95, 0.26, 0.16, 0.5,
00036 0.0, 0, -1.75, -0.26, 0.16, -0.5],
00037 [0, 0, 0,
00038 -0.0, 0, -1.75, 0.26, 0.16, 0.5,
00039 0.0, 0, -1.75, -0.26, 0.16, -0.5],
00040 ], [], [], [2,4])
00041 seq_svc.waitInterpolation()
00042
00043 init()
00044 playPattern()
