mp4

Information

CreatedJul 10, 2014 5:07:49 AM
Repositoryhttps://github.com/yosuke/learn-control-pid.git
Statuscompleted
Eventcustom
Message[]

Build log

$ git clone https://github.com/yosuke/learn-control-pid.git /work
Cloning into '/work'...
remote: Counting objects: 28, done.[K
remote: Compressing objects:   4% (1/24)   [K
remote: Compressing objects:   8% (2/24)   [K
remote: Compressing objects:  12% (3/24)   [K
remote: Compressing objects:  16% (4/24)   [K
remote: Compressing objects:  20% (5/24)   [K
remote: Compressing objects:  25% (6/24)   [K
remote: Compressing objects:  29% (7/24)   [K
remote: Compressing objects:  33% (8/24)   [K
remote: Compressing objects:  37% (9/24)   [K
remote: Compressing objects:  41% (10/24)   [K
remote: Compressing objects:  45% (11/24)   [K
remote: Compressing objects:  50% (12/24)   [K
remote: Compressing objects:  54% (13/24)   [K
remote: Compressing objects:  58% (14/24)   [K
remote: Compressing objects:  62% (15/24)   [K
remote: Compressing objects:  66% (16/24)   [K
remote: Compressing objects:  70% (17/24)   [K
remote: Compressing objects:  75% (18/24)   [K
remote: Compressing objects:  79% (19/24)   [K
remote: Compressing objects:  83% (20/24)   [K
remote: Compressing objects:  87% (21/24)   [K
remote: Compressing objects:  91% (22/24)   [K
remote: Compressing objects:  95% (23/24)   [K
remote: Compressing objects: 100% (24/24)   [K
remote: Compressing objects: 100% (24/24), done.[K
Unpacking objects:   3% (1/28)   
Unpacking objects:   7% (2/28)   
Unpacking objects:  10% (3/28)   
Unpacking objects:  14% (4/28)   
Unpacking objects:  17% (5/28)   
Unpacking objects:  21% (6/28)   
Unpacking objects:  25% (7/28)   
Unpacking objects:  28% (8/28)   
Unpacking objects:  32% (9/28)   
Unpacking objects:  35% (10/28)   
Unpacking objects:  39% (11/28)   
Unpacking objects:  42% (12/28)   
Unpacking objects:  46% (13/28)   
Unpacking objects:  50% (14/28)   
Unpacking objects:  53% (15/28)   
Unpacking objects:  57% (16/28)   
Unpacking objects:  60% (17/28)   
remote: Total 28 (delta 3), reused 28 (delta 3)[K
Unpacking objects:  64% (18/28)   
Unpacking objects:  67% (19/28)   
Unpacking objects:  71% (20/28)   
Unpacking objects:  75% (21/28)   
Unpacking objects:  78% (22/28)   
Unpacking objects:  82% (23/28)   
Unpacking objects:  85% (24/28)   
Unpacking objects:  89% (25/28)   
Unpacking objects:  92% (26/28)   
Unpacking objects:  96% (27/28)   
Unpacking objects: 100% (28/28)   
Unpacking objects: 100% (28/28), done.
Checking connectivity... done.
$ cd /work

$ apt-get install -y libopencv-dev

Reading package lists... 0%

Reading package lists... 0%

Reading package lists... 1%

Reading package lists... 20%

Reading package lists... 20%

Reading package lists... 65%

Reading package lists... 97%

Reading package lists... 97%

Reading package lists... 98%

Reading package lists... 98%

Reading package lists... Done


Building dependency tree... 0%

Building dependency tree... 0%

Building dependency tree... 50%

Building dependency tree... 50%

Building dependency tree       


Reading state information... 0%

Reading state information... 0%

Reading state information... Done

libopencv-dev is already the newest version.
The following package was automatically installed and is no longer required:
  libjpeg62
Use 'apt-get autoremove' to remove it.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
$ make
rm -f PA10Controller.o
g++ `rtm-config --cflags` `pkg-config --cflags opencv` `pkg-config --cflags hrpsys-base` -c -o PA10Controller.o PA10Controller.cpp
rm -f PA10Controller.so
g++ -shared -o PA10Controller.so PA10Controller.o `rtm-config --libs` `pkg-config --libs opencv`
$ hrpsys-simulator PA10Sample.xml 'echo "here we start!"'
libdc1394 error: Failed to initialize libdc1394
unable to find <mode>
createBody(box,file:///work/PA10/box.wrl)
Loading body customizer "/usr/local/share/OpenHRP-3.1/customizer/libSampleCustomizer.so" for springJoint
createBody(floor,file:///work/floor.wrl)
createBody(pa10,file:///work/PA10/pa10.main.wrl)
loading PA10Controller.so
creating PA10Controller0
PA10Controller0:0.005
pa10:0.005
making a connection between pa10.q and PA10Controller0.angles
BodyRTC::onActivated(0)
making a connection between pa10.dq and PA10Controller0.vels
making a connection between PA10Controller0.torque and pa10.qRef
number of receivers:2
timestep = 0.001, total time = 10
here we start!

total     :   2.017[s],    2.479[sim/real]
controller:   0.060[s],    0.012[ms/frame]
collision :   0.502[s],    0.100[ms/frame]
dynamics  :   0.268[s],    0.054[ms/frame]
num of triangles : box : 12
num of triangles : floor : 12
num of triangles : pa10 : 1372
BodyRTC::onDeactivated(0)