OpenRAVE Documentation

Source code for openravepy.examples.testphysics_controller

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright (C) 2009-2011 Rosen Diankov (rosen.diankov@gmail.com)
# 
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#     http://www.apache.org/licenses/LICENSE-2.0
# 
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Shows velocity control with ode controller.

.. examplepre-block:: testphysics_controller

.. examplepost-block:: testphysics_controller
"""
from __future__ import with_statement # for python 2.5
__author__ = 'Rosen Diankov'

import time
import openravepy
if not __openravepy_build_doc__:
    from openravepy import *
    from numpy import *

[docs]def main(env,options): "Main example code." env.Load(options.scene) if options._physics is None: # no physics engine set, so set one physics = RaveCreatePhysicsEngine(env,'ode') env.SetPhysicsEngine(physics) physics.SetGravity(array((0,0,-9.8))) with env: robot = env.GetRobots()[0] robot.GetLinks()[0].SetStatic(True) robot.SetController(RaveCreateController(env,'odevelocity'),range(robot.GetDOF()),0) env.StopSimulation() env.StartSimulation(timestep=0.001) starttime = time.time() while True: velocities = 0.5*(random.rand(robot.GetDOF())-0.5) robot.GetController().SendCommand('setvelocity '+' '.join(str(f) for f in velocities)) time.sleep(2.0)
from optparse import OptionParser from openravepy.misc import OpenRAVEGlobalArguments @openravepy.with_destroy
[docs]def run(args=None): """Command-line execution of the example. :param args: arguments for script to parse, if not specified will use sys.argv """ parser = OptionParser(description="test physics") OpenRAVEGlobalArguments.addOptions(parser) parser.add_option('--scene',action="store",type='string',dest='scene',default='data/hanoi.env.xml', help='Scene file to load (default=%default)') (options, leftargs) = parser.parse_args(args=args) OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
if __name__=='__main__': run()

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