def __init__(self, env, scenename):
self.env = env
self.env.Reset()
#self.env.StopSimulation()
self.scenename = scenename
self.env.Load(scenename)
self.robot = self.env.GetRobots()[0]
self.planning = graspplanning.GraspPlanning(self.robot, dests=[])
sceneprefix = os.path.split(self.scenename)[1]
if sceneprefix.find('.') >= 0:
sceneprefix = sceneprefix[0:sceneprefix.find('.')]
self.dataprefix = self.getdataprefix(self.robot) + sceneprefix
def __init__(self, env, scenename):
self.env = env
self.env.Reset()
self.env.StopSimulation()
self.scenename = scenename
self.env.Load(scenename)
self.robot = self.env.GetRobots()[0]
self.planning = graspplanning.GraspPlanning(self.robot, dests=[])
sceneprefix = os.path.split(self.scenename)[1]
if sceneprefix.find('.') >= 0:
sceneprefix = sceneprefix[0:sceneprefix.find('.')]
self.dataprefix = self.getdataprefix(self.robot) + sceneprefix
self.lsmodel = linkstatistics.LinkStatisticsModel(self.robot)
if not self.lsmodel.load():
self.lsmodel.autogenerate()
def Plan(self):
if self.Tgoal is None:
raise ValueError('need to set goal with SetGoal()')
print 'planning...'
planner = graspplanning.GraspPlanning(self.robot,
randomize=False,
dests=None,
nodestinations=True)
for gmodel in self.gmodels:
print 'grasping %s' % gmodel.target
success = -1
while success < 0:
success = planner.graspAndPlaceObject(gmodel,
dests=[self.Tgoal],
movehanddown=False)