Openhrp-python is a project mainly written in Python, it's free.
Python library and command line utility to control OpenHRP simulation without GUI
openhrp-python: Python API and command line tools to control OpenHRP corba service
Install:
Install depending libraries $ sudo apt-get install git-core python-omniorb omniidl4-python python-progressbar
Clone from the repository $ git clone git://github.com/yosuke/openhrp-python.git openhrp-python
Run setup script $ cd openhrp-python $ sudo python setup.py install
Usage:
[Before using the script] Start OpenHRP corba services $ openhrp-model-loader $ openhrp-collision-detector $ openhrp-aist-dynamic-simulator
Load project file to dynamics simulator $ hrp --project ../OpenHRP-3.1.0-Release/sample/project/PA10Sample.xml
Run dynamics simulation for 10 seconds (and save result to log file) $ hrp --run 10 --log sample.log
Load log file to view simulator $ hrp --project ../OpenHRP-3.1.0-Release/sample/project/PA10Sample.xml --view sample.log
Options: -h, --help show this help message and exit -p FILE, --project=FILE load project from FILE -r TIME, --run=TIME run simulation for specified time period -l FILE, --log=FILE save log to FILE -v FILE, --view=FILE load log from FILE and send to viewer service