openhrp-python: Python API and command line tools to control OpenHRP corba service
Install:
1. Install depending libraries
$ sudo apt-get install git-core python-omniorb omniidl4-python python-progressbar
2. Clone from the repository
$ git clone git://github.com/yosuke/openhrp-python.git openhrp-python
3. Run setup script
$ cd openhrp-python
$ sudo python setup.py install
Usage:
0. [Before using the script] Start OpenHRP corba services
$ openhrp-model-loader
$ openhrp-collision-detector
$ openhrp-aist-dynamic-simulator
1. Load project file to dynamics simulator
$ hrp --project ../OpenHRP-3.1.0-Release/sample/project/PA10Sample.xml
2. Run dynamics simulation for 10 seconds (and save result to log file)
$ hrp --run 10 --log sample.log
3. Load log file to view simulator
$ hrp --project ../OpenHRP-3.1.0-Release/sample/project/PA10Sample.xml --view sample.log
Options:
-h, --help show this help message and exit
-p FILE, --project=FILE
load project from FILE
-r TIME, --run=TIME run simulation for specified time period
-l FILE, --log=FILE save log to FILE
-v FILE, --view=FILE load log from FILE and send to viewer service
yosuke/openhrp-python
Python library and command line utility to control OpenHRP simulation without GUI
Python