mp4

Information

CreatedJul 30, 2014 4:50:01 PM
Repositoryhttps://github.com/devrt/inverse-kinematics-primer.git
Statuscompleted
Eventcustom
Message[add ipython notebook, Merge branch 'master' of https://github.com/devrt/inverse-kinematics-primer]

Build log

$ git clone https://github.com/devrt/inverse-kinematics-primer.git /work
Cloning into '/work'...
remote: Counting objects: 59, done.[K
remote: Compressing objects:   2% (1/37)   [K
remote: Compressing objects:   5% (2/37)   [K
remote: Compressing objects:   8% (3/37)   [K
remote: Compressing objects:  10% (4/37)   [K
remote: Compressing objects:  13% (5/37)   [K
remote: Compressing objects:  16% (6/37)   [K
remote: Compressing objects:  18% (7/37)   [K
remote: Compressing objects:  21% (8/37)   [K
remote: Compressing objects:  24% (9/37)   [K
remote: Compressing objects:  27% (10/37)   [K
remote: Compressing objects:  29% (11/37)   [K
remote: Compressing objects:  32% (12/37)   [K
remote: Compressing objects:  35% (13/37)   [K
remote: Compressing objects:  37% (14/37)   [K
remote: Compressing objects:  40% (15/37)   [K
remote: Compressing objects:  43% (16/37)   [K
remote: Compressing objects:  45% (17/37)   [K
remote: Compressing objects:  48% (18/37)   [K
remote: Compressing objects:  51% (19/37)   [K
remote: Compressing objects:  54% (20/37)   [K
remote: Compressing objects:  56% (21/37)   [K
remote: Compressing objects:  59% (22/37)   [K
remote: Compressing objects:  62% (23/37)   [K
remote: Compressing objects:  64% (24/37)   [K
remote: Compressing objects:  67% (25/37)   [K
remote: Compressing objects:  70% (26/37)   [K
remote: Compressing objects:  72% (27/37)   [K
remote: Compressing objects:  75% (28/37)   [K
remote: Compressing objects:  78% (29/37)   [K
remote: Compressing objects:  81% (30/37)   [K
remote: Compressing objects:  83% (31/37)   [K
remote: Compressing objects:  86% (32/37)   [K
remote: Compressing objects:  89% (33/37)   [K
remote: Compressing objects:  91% (34/37)   [K
remote: Compressing objects:  94% (35/37)   [K
remote: Compressing objects:  97% (36/37)   [K
remote: Compressing objects: 100% (37/37)   [K
remote: Compressing objects: 100% (37/37), done.[K
Unpacking objects:   1% (1/59)   
Unpacking objects:   3% (2/59)   
Unpacking objects:   5% (3/59)   
Unpacking objects:   6% (4/59)   
Unpacking objects:   8% (5/59)   
Unpacking objects:  10% (6/59)   
Unpacking objects:  11% (7/59)   
Unpacking objects:  13% (8/59)   
Unpacking objects:  15% (9/59)   
Unpacking objects:  16% (10/59)   
Unpacking objects:  18% (11/59)   
Unpacking objects:  20% (12/59)   
Unpacking objects:  22% (13/59)   
Unpacking objects:  23% (14/59)   
Unpacking objects:  25% (15/59)   
Unpacking objects:  27% (16/59)   
Unpacking objects:  28% (17/59)   
Unpacking objects:  30% (18/59)   
Unpacking objects:  32% (19/59)   
Unpacking objects:  33% (20/59)   
Unpacking objects:  35% (21/59)   
Unpacking objects:  37% (22/59)   
Unpacking objects:  38% (23/59)   
Unpacking objects:  40% (24/59)   
Unpacking objects:  42% (25/59)   
Unpacking objects:  44% (26/59)   
Unpacking objects:  45% (27/59)   
Unpacking objects:  47% (28/59)   
Unpacking objects:  49% (29/59)   
Unpacking objects:  50% (30/59)   
Unpacking objects:  52% (31/59)   
Unpacking objects:  54% (32/59)   
Unpacking objects:  55% (33/59)   
Unpacking objects:  57% (34/59)   
Unpacking objects:  59% (35/59)   
Unpacking objects:  61% (36/59)   
Unpacking objects:  62% (37/59)   
Unpacking objects:  64% (38/59)   
Unpacking objects:  66% (39/59)   
Unpacking objects:  67% (40/59)   
remote: Total 59 (delta 24), reused 56 (delta 21)[K
Unpacking objects:  69% (41/59)   
Unpacking objects:  71% (42/59)   
Unpacking objects:  72% (43/59)   
Unpacking objects:  74% (44/59)   
Unpacking objects:  76% (45/59)   
Unpacking objects:  77% (46/59)   
Unpacking objects:  79% (47/59)   
Unpacking objects:  81% (48/59)   
Unpacking objects:  83% (49/59)   
Unpacking objects:  84% (50/59)   
Unpacking objects:  86% (51/59)   
Unpacking objects:  88% (52/59)   
Unpacking objects:  89% (53/59)   
Unpacking objects:  91% (54/59)   
Unpacking objects:  93% (55/59)   
Unpacking objects:  94% (56/59)   
Unpacking objects:  96% (57/59)   
Unpacking objects:  98% (58/59)   
Unpacking objects: 100% (59/59)   
Unpacking objects: 100% (59/59), 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... 71%

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 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     :   2.021[s],    2.474[sim/real]
controller:   0.060[s],    0.012[ms/frame]
collision :   0.494[s],    0.099[ms/frame]
dynamics  :   0.313[s],    0.063[ms/frame]
num of triangles : box : 12
num of triangles : floor : 12
num of triangles : pa10 : 1372
BodyRTC::onDeactivated(0)