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Follow this tutorial Using OpenHRP Format
robot_test.x3d
robot_test.xml
DynamicsWorld.xml
Note: Ideally you can put your python scripts and modules anywhere on the disk, as far as you set your PYTHONPATH variable correctly. In this tutorial, we place them in our workspace.
kinematicSigverseTest.py
This controller
DynamicsController.cpp
placing the cube on end endeffor of the robot.
Then type on console to compile the code:
$make
Now, you need to set the library path using.
Then, load the xml file using sigviewer:
$sigserver.sh -w ./DynamicsController.xml
After the world loads, push "Start Button" to see the results of python code.
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