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interactive_sandbox.py
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interactive_sandbox.py
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#!/usr/bin/env python
#// This program is free software: you can redistribute it and/or modify
#// it under the terms of the GNU Lesser General Public License as published by
#// the Free Software Foundation, either version 3 of the License, or
#// at your option) any later version.
#//
#// This program is distributed in the hope that it will be useful,
#// but WITHOUT ANY WARRANTY; without even the implied warranty of
#// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
#// GNU Lesser General Public License for more details.
#//
#// You should have received a copy of the GNU Lesser General Public License
#// along with this program. If not, see <http://www.gnu.org/licenses/>.
from __future__ import with_statement # for python 2.5
__author__ = 'Robert Ellenberg'
__license__ = 'GPLv3 license'
from openravepy import *
from numpy import *
import time
import datetime
import sys
import tab
if __name__=='__main__':
#-- Read the name of the xml file passed as an argument
#-- or use the default name
try:
file_env = sys.argv[1]
except IndexError:
file_env = 'huboplus/huboplus.robot.xml'
env = Environment()
env.SetViewer('qtcoin')
env.SetDebugLevel(4)
#-- Set the robot controller and start the simulation
with env:
env.Load(file_env)
robot = env.GetRobots()[0]
collisionChecker = RaveCreateCollisionChecker(env,'ode')
env.SetCollisionChecker(collisionChecker)
env.StopSimulation()
#Use .0005 timestep for non-realtime simulation with ODE to reduce jitter.
env.StartSimulation(timestep=0.0005)