testupdatingbodies Module
Manually call the simulation loop to update the bodies while environment is locked.
Running the Example:
openrave.py --example testupdatingbodies
Command-line
Usage: openrave.py [options]
test physics
Options:
-h, --help show this help message and exit
OpenRAVE Environment Options:
--loadplugin=_LOADPLUGINS
List all plugins and the interfaces they provide.
--collision=_COLLISION
Default collision checker to use
--physics=_PHYSICS physics engine to use (default=none)
--viewer=_VIEWER viewer to use (default=qtcoin)
--server=_SERVER server to use (default=None).
--serverport=_SERVERPORT
port to load server on (default=4765).
--module=_MODULES module to load, can specify multiple modules. Two
arguments are required: "name" "args".
-l _LEVEL, --level=_LEVEL, --log_level=_LEVEL
Debug level, one of
(fatal,error,warn,info,debug,verbose,verifyplans)
--testmode if set, will run the program in a finite amount of
time and spend computation time validating results.
Used for testing
Main Python Code
def main(env,options):
env.Load('data/lab1.env.xml')
robot = env.GetRobots()[0]
manipprob = interfaces.BaseManipulation(robot)
Tcamera = array(((0.84028, -0.14715, 0.52179,0.930986),
(0.52639, 0.45182, -0.72026,-1.233453),
(-0.12976, 0.87989, 0.45711,2.412977)))
env.GetViewer().SetCamera(Tcamera)
env.GetViewer().EnvironmentSync()
print 'Stopping the environment loop from updating the simulation'
env.StopSimulation()
print 'Locking environment and starting to plan'
with env:
res = manipprob.MoveManipulator(goal=[-0.75,1.24,-0.064,2.33,-1.16,-1.548,1.19])
print 'Calling the simulation loop internally to python'
while not robot.GetController().IsDone():
env.StepSimulation(0.01)
env.UpdatePublishedBodies() # used to publish body information while environment is locked
time.sleep(0.1)
raw_input('press any key to exit: ')
Class Definitions
-
openravepy.examples.testupdatingbodies.main(env, options)[ソース]
-
openravepy.examples.testupdatingbodies.run(*args, **kwargs)[ソース]
Command-line execution of the example.
パラメタ: | args – arguments for script to parse, if not specified will use sys.argv |