def Test1(self): #just visualize a grasp
V = Vis()
Data = ParseGraspData()
Data.parseGraspData()
grasp = Data.val_grasp_data[100]
Obj = ObjectVis(V)
Obj.loadObjectList()
Hand = HandVis(V)
Hand.loadHand()
Obj.loadObject(int(grasp['obj'].strip('obj')))
Hand.globalQuatTranslationMove(grasp['HandRotation'],
grasp['HandPosition'])
Obj.globalQuatTranslationMove(grasp['ObjRotation'],
grasp['ObjPosition'])
V.close()
def Test2(self): #visualize a specific grasp
V = Vis()
Data = ParseGraspData()
Data.parseGraspData()
Data.parseAllTransforms()
grasps = Data.findGrasp(objnum=4,
subnum=4,
graspnum=11,
list2check=Data.all_transforms)
for grasp in grasps:
Obj = ObjectVis(V)
Obj.loadObjectList()
Hand = HandVis(V)
Hand.loadHand()
pdb.set_trace()
Obj.loadObject(grasp['obj'])
Hand.globalTransformation(grasp['HandTransformation'])
Obj.globalTransformation(grasp['ObjTransformation'])
V.close()