mp4

Information

CreatedJul 10, 2014 5:18:36 AM
Repositoryhttps://github.com/yosuke/learn-control-pid.git
Statuscompleted
Eventcustom
Message[inclease K_D]

Build log

$ git clone https://github.com/yosuke/learn-control-pid.git /work
Cloning into '/work'...
remote: Counting objects: 37, done.[K
remote: Compressing objects:   3% (1/31)   [K
remote: Compressing objects:   6% (2/31)   [K
remote: Compressing objects:   9% (3/31)   [K
remote: Compressing objects:  12% (4/31)   [K
remote: Compressing objects:  16% (5/31)   [K
remote: Compressing objects:  19% (6/31)   [K
remote: Compressing objects:  22% (7/31)   [K
remote: Compressing objects:  25% (8/31)   [K
remote: Compressing objects:  29% (9/31)   [K
remote: Compressing objects:  32% (10/31)   [K
remote: Compressing objects:  35% (11/31)   [K
remote: Compressing objects:  38% (12/31)   [K
remote: Compressing objects:  41% (13/31)   [K
remote: Compressing objects:  45% (14/31)   [K
remote: Compressing objects:  48% (15/31)   [K
remote: Compressing objects:  51% (16/31)   [K
remote: Compressing objects:  54% (17/31)   [K
remote: Compressing objects:  58% (18/31)   [K
remote: Compressing objects:  61% (19/31)   [K
remote: Compressing objects:  64% (20/31)   [K
remote: Compressing objects:  67% (21/31)   [K
remote: Compressing objects:  70% (22/31)   [K
remote: Compressing objects:  74% (23/31)   [K
remote: Compressing objects:  77% (24/31)   [K
remote: Compressing objects:  80% (25/31)   [K
remote: Compressing objects:  83% (26/31)   [K
remote: Compressing objects:  87% (27/31)   [K
remote: Compressing objects:  90% (28/31)   [K
remote: Compressing objects:  93% (29/31)   [K
remote: Compressing objects:  96% (30/31)   [K
remote: Compressing objects: 100% (31/31)   [K
remote: Compressing objects: 100% (31/31), done.[K
Unpacking objects:   2% (1/37)   
Unpacking objects:   5% (2/37)   
Unpacking objects:   8% (3/37)   
Unpacking objects:  10% (4/37)   
Unpacking objects:  13% (5/37)   
Unpacking objects:  16% (6/37)   
Unpacking objects:  18% (7/37)   
Unpacking objects:  21% (8/37)   
Unpacking objects:  24% (9/37)   
Unpacking objects:  27% (10/37)   
Unpacking objects:  29% (11/37)   
Unpacking objects:  32% (12/37)   
Unpacking objects:  35% (13/37)   
Unpacking objects:  37% (14/37)   
Unpacking objects:  40% (15/37)   
Unpacking objects:  43% (16/37)   
Unpacking objects:  45% (17/37)   
Unpacking objects:  48% (18/37)   
Unpacking objects:  51% (19/37)   
Unpacking objects:  54% (20/37)   
Unpacking objects:  56% (21/37)   
Unpacking objects:  59% (22/37)   
Unpacking objects:  62% (23/37)   
remote: Total 37 (delta 9), reused 33 (delta 5)[K
Unpacking objects:  64% (24/37)   
Unpacking objects:  67% (25/37)   
Unpacking objects:  70% (26/37)   
Unpacking objects:  72% (27/37)   
Unpacking objects:  75% (28/37)   
Unpacking objects:  78% (29/37)   
Unpacking objects:  81% (30/37)   
Unpacking objects:  83% (31/37)   
Unpacking objects:  86% (32/37)   
Unpacking objects:  89% (33/37)   
Unpacking objects:  91% (34/37)   
Unpacking objects:  94% (35/37)   
Unpacking objects:  97% (36/37)   
Unpacking objects: 100% (37/37)   
Unpacking objects: 100% (37/37), 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... 69%

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     :   2.038[s],    2.453[sim/real]
controller:   0.063[s],    0.013[ms/frame]
collision :   0.501[s],    0.100[ms/frame]
dynamics  :   0.312[s],    0.062[ms/frame]
num of triangles : box : 12
num of triangles : floor : 12
num of triangles : pa10 : 1372
BodyRTC::onDeactivated(0)