mp4

Information

CreatedJul 10, 2014 5:21:04 AM
Repositoryhttps://github.com/yosuke/learn-control-pid.git
Statuscompleted
Eventcustom
Message[optimal PD]

Build log

$ git clone https://github.com/yosuke/learn-control-pid.git /work
Cloning into '/work'...
remote: Counting objects: 40, done.[K
remote: Compressing objects:   2% (1/34)   [K
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remote: Compressing objects:  97% (33/34)   [K
remote: Compressing objects: 100% (34/34)   [K
remote: Compressing objects: 100% (34/34), done.[K
Unpacking objects:   2% (1/40)   
Unpacking objects:   5% (2/40)   
Unpacking objects:   7% (3/40)   
Unpacking objects:  10% (4/40)   
Unpacking objects:  12% (5/40)   
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Unpacking objects:  52% (21/40)   
remote: Total 40 (delta 11), reused 34 (delta 5)[K
Unpacking objects:  55% (22/40)   
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Unpacking objects: 100% (40/40)   
Unpacking objects: 100% (40/40), done.
Checking connectivity... done.
$ cd /work

$ apt-get install -y libopencv-dev

Reading package lists... 0%

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Reading package lists... Done


Building dependency tree... 0%

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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],    2.454[sim/real]
controller:   0.058[s],    0.012[ms/frame]
collision :   0.495[s],    0.099[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)