#!/usr/bin/env python
# -*- coding: utf-8 -*-
import numpy as np
from GraspRegions import GraspRegions
from AssemblyOperation import Part,AssemblyOperation
envfile = 'environments/simple.env.xml'
rightside = Part('rightside',is_transferable=True)
back = Part('back',is_transferable=True)
cseat = Part('cseat',is_transferable=True)
leftside = Part('leftside',is_transferable=True)
all_parts = [rightside,back,cseat,leftside]
all_robot_names = ['drc1','drc2','drc3']
all_object_names = ['rightside','back','cseat','leftside']
rightside_and_back = AssemblyOperation(assembly_list = [rightside,back,cseat],
assembly_poses = [np.eye(4),
np.array([[ 1.0 , 0.0 , 0.0 ,-0.095],
[ 0.0 , 0.0 , 1.0 , 0.02],
[ 0.0 , -1.0 , 0.0 , 0.27],
[ 0.0 , 0.0 , 0.0 , 1.0]]),
np.array([[ 0. , 0. , 1. , -0.07255655],
[ 0. , 1. , 0. , 0.08884105],
[-1. , 0. , 0. , 0.14110599],
[ 0. , 0. , 0. , 1. ]])],
assembly_robot_names = ['drc1','drc3','drc2'],
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import numpy as np
from GraspRegions import GraspRegions
from AssemblyOperation import Part, AssemblyOperation
envfile = 'environments/chair.env.xml'
rightside = Part('rightside', is_transferable=True)
leftside = Part('leftside', is_transferable=True)
back = Part('back', is_transferable=True)
seat = Part('seat', is_transferable=True)
fastener_rightside_to_back = Part('fastener_rightside_to_back',
is_transferable=False)
fastener_leftside_to_back = Part('fastener_leftside_to_back',
is_transferable=False)
fastener_rightside_to_seat = Part('fastener_rightside_to_seat',
is_transferable=False)
fastener_leftside_to_seat = Part('fastener_leftside_to_seat',
is_transferable=False)
all_parts = [
rightside, back, fastener_rightside_to_back, seat,
fastener_rightside_to_seat, leftside, fastener_leftside_to_seat,
fastener_leftside_to_back
]
#all_robot_names = ['drc1','drc2','drc3','drc4','drc5']
all_robot_names = ['drc1', 'drc2', 'drc3', 'drc4']
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import numpy as np
from GraspRegions import GraspRegions
from AssemblyOperation import Part, AssemblyOperation
envfile = 'environments/simple.env.xml'
rightside = Part('rightside', is_transferable=True)
back = Part('back', is_transferable=True)
fastener_rightside_to_back = Part('fastener_rightside_to_back',
is_transferable=False)
all_parts = [rightside, back, fastener_rightside_to_back]
#all_robot_names = ['drc1','drc2','drc3','drc4','drc5']
all_robot_names = ['drc1', 'drc2', 'drc3']
all_object_names = ['rightside', 'back', 'fastener_rightside_to_back']
rightside_and_back = AssemblyOperation(
assembly_list=[rightside, back, fastener_rightside_to_back],
assembly_poses=[
np.eye(4),
np.array([[1.0, 0.0, 0.0, -0.095], [0.0, 0.0, 1.0, 0.02],
[0.0, -1.0, 0.0, 0.27], [0.0, 0.0, 0.0, 1.0]]),
np.array([[1., 0., 0., -8.99258554e-02], [0., 1., 0., -0.08],
[0., 0., 1., 2.84104079e-01], [0., 0., 0., 1.]])
],
assembly_robot_names=['drc1', 'drc3', 'drc2'],
import IPython
envfile = 'environments/random_array.env.xml'
num_parts = 3
total_num = num_parts * num_parts * 2
vertical_parts = {}
horizontal_parts = {}
all_names = []
all_robot_names = ['drc1', 'drc2', 'drc3', 'drc4', 'drc5']
for i in range(total_num):
vert_name = 'link_vertical' + str(i)
horizontal_name = 'link_horizontal' + str(i)
vertical_parts[horizontal_name] = Part(vert_name, is_transferable=True)
horizontal_parts[vert_name] = Part(horizontal_name, is_transferable=True)
all_parts = vertical_parts.values() + horizontal_parts.values()
all_object_names = vertical_parts.keys() + horizontal_parts.keys()
assembly_operations = []
for part in all_parts:
assembly_operations.append(part)
side_length = 0.2
parity = 1
for i in range(len(all_parts) / 4):
#i is the plus sign number
idx = i * 2
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import numpy as np
from GraspRegions import GraspRegions
from AssemblyOperation import AssemblyOperation, Part
envfile = 'environments/pictureframe.env.xml'
fastener1 = Part('fastener1',is_transferable=False)
fastener2 = Part('fastener2',is_transferable=False)
fastener3 = Part('fastener3',is_transferable=False)
fastener4 = Part('fastener4',is_transferable=False)
fastener5 = Part('fastener5',is_transferable=False)
fastener6 = Part('fastener6',is_transferable=False)
fastener7 = Part('fastener7',is_transferable=False)
fastener8 = Part('fastener8',is_transferable=False)
fastener9 = Part('fastener9',is_transferable=False)
fastener10 = Part('fastener10',is_transferable=False)
fastener11 = Part('fastener11',is_transferable=False)
fastener12 = Part('fastener12',is_transferable=False)
fastener13 = Part('fastener13',is_transferable=False)
fastener14 = Part('fastener14',is_transferable=False)
sidelink1 = Part('sidelink1',is_transferable=True)
sidelink2 = Part('sidelink2',is_transferable=True)
sidelink3 = Part('sidelink3',is_transferable=True)
sidelink4 = Part('sidelink4',is_transferable=True)
sidelink5 = Part('sidelink5',is_transferable=True)
sidelink6 = Part('sidelink6',is_transferable=True)
sidelink7 = Part('sidelink7',is_transferable=True)
sidelink8 = Part('sidelink8',is_transferable=True)