mp4

Information

CreatedJul 30, 2014 8:36:46 AM
Repositoryhttps://github.com/devrt/inverse-kinematics-primer.git
Statuscompleted
Eventcustom
Message[faster motion]

Build log

$ git clone https://github.com/devrt/inverse-kinematics-primer.git /work

$ cd /work
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Unpacking objects: 100% (53/53), done.
Checking connectivity... done.
$ echo $?
0
$ cd /work
$ apt-get install -y libopencv-dev

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Reading package lists... Done


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Building dependency tree       


Reading state information... 0%

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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 PIDController.o
g++ `rtm-config --cflags` `pkg-config --cflags opencv` `pkg-config --cflags hrpsys-base` -c -o PIDController.o PIDController.cpp
rm -f PIDController.so
g++ -shared -o PIDController.so PIDController.o `rtm-config --libs` `pkg-config --libs opencv`
rm -f InverseKinematics.o
g++ `rtm-config --cflags` `pkg-config --cflags opencv` `pkg-config --cflags hrpsys-base` -c -o InverseKinematics.o InverseKinematics.cpp
rm -f InverseKinematics.so
g++ -shared -o InverseKinematics.so InverseKinematics.o `rtm-config --libs` `pkg-config --libs opencv`
rm -f HandMotionGeneration.o
g++ `rtm-config --cflags` `pkg-config --cflags opencv` `pkg-config --cflags hrpsys-base` -c -o HandMotionGeneration.o HandMotionGeneration.cpp
rm -f HandMotionGeneration.so
g++ -shared -o HandMotionGeneration.so HandMotionGeneration.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 HandMotionGeneration.so
loading InverseKinematics.so
loading PIDController.so
creating HandMotionGeneration0
HandMotionGeneration0:0.005
creating InverseKinematics0
InverseKinematics0:0.005
creating PIDController0
PIDController0:0.005
pa10:0.005
making a connection between pa10.q and PIDController0.angles
BodyRTC::onActivated(0)
making a connection between pa10.dq and PIDController0.vels
making a connection between PIDController0.torque and pa10.qRef
making a connection between InverseKinematics0.pose and PIDController0.q
making a connection between HandMotionGeneration0.handpos and InverseKinematics0.handpos
number of receivers:4
timestep = 0.001, total time = 10
here we start!

total     :   2.026[s],    2.468[sim/real]
controller:   0.059[s],    0.012[ms/frame]
collision :   0.495[s],    0.099[ms/frame]
dynamics  :   0.315[s],    0.063[ms/frame]
num of triangles : box : 12
num of triangles : floor : 12
num of triangles : pa10 : 1372
BodyRTC::onDeactivated(0)