def load_save_template(world):
"""Shows the load/save functions. First loads a Config resource, then ask you to save the edited config"""
fn, q = resource.load('Config')
resource.edit('loaded config', q, world=world)
resource.save(q)
#gridres = 0.1
#pcres = 0.05
geometryopt.TEST_PYCCD = False
DUMP_SDF = False
DRAW_GRID_AND_PC = False
VERBOSE = 0
world = WorldModel()
if len(sys.argv) > 1:
for fn in sys.argv[1:]:
world.readFile(fn)
else:
res = resource.load('WorldModel')
if res is not None:
fn,world = res
else:
exit(1)
if world.numRobots() == 0:
print("Must specify a robot")
exit(1)
robot = world.robot(0)
obstacles = []
for i in xrange(1,world.numRobots()):
for j in xrange(world.robot(i).numLinks()):
obstacles.append(world.robot(i).link(j))
for i in xrange(world.numRigidObjects()):
#you can play with these parameters
gridres = 0.05
pcres = 0.02
if len(sys.argv) > 1:
fn = sys.argv[1]
resource.setDirectory('.')
obj = resource.get(fn, 'Geometry3D')
if len(sys.argv) > 2:
fn2 = sys.argv[2]
obj2 = resource.get(fn2, 'Geometry3D')
else:
obj2 = obj.clone()
else:
res = resource.load('Geometry3D')
if res is not None:
fn, obj = res
else:
exit(1)
print "Cloning object for second object"
obj2 = obj.clone()
if obj is None:
exit(1)
print "Input object has type", obj.type(), "with", obj.numElements(
), "elements"
geom1 = PenetrationDepthGeometry(obj, gridres, pcres)
geom2 = PenetrationDepthGeometry(obj2, gridres, pcres)