def init_ground_truth(): global ground_truth_items apc.load_fake_items() apc.load_all_items(gripper=baxter.gripper.gripper_name) #ground_truth_items = [apc.ItemInBin(apc.item_info['tall_item'],'bin_C'), ground_truth_items = [apc.ItemInBin(apc.item_info['cheezit_bit_original'],'bin_C'), apc.ItemInBin(apc.item_info['small_item'],'bin_D'), apc.ItemInBin(apc.item_info['med_item'],'bin_J')] #only load geometries for items that were spawned names = set() for item in ground_truth_items: names.add(item.info.name) print "Loading geometries for",','.join(names) for name in names: item = apc.item_info[name] item.geometry = apc.load_item_geometry(item) #set_in_bin_xform uses bounding boxes to set vertical offsets, and #bounding boxes are set up only *after* geometries are loaded ground_truth_items[0].set_in_bin_xform(ground_truth_shelf_xform,0.3,0.3,0.0) ground_truth_items[1].set_in_bin_xform(ground_truth_shelf_xform,0.5,0.1,math.pi/4) ground_truth_items[2].set_in_bin_xform(ground_truth_shelf_xform,0.4,0.25,math.pi/2) return
sys.path.append('../klampt_models') import rethink_electric_gripper,reflex_col grippermodules = {'reflex':reflex_col, 'rethink_electric_gripper':rethink_electric_gripper, } grippermodule = grippermodules[grippername] world = WorldModel() world.readFile(os.path.join('../klampt_models/',grippermodule.klampt_model_name)) robot = world.robot(0) #load the items and spawn one in the world apc.load_item(objectname,gripper=grippername) item = apc.item_info[objectname] item.geometry = apc.load_item_geometry(item) itemposed = apc.ItemInBin(item,'blah') itemposed.xform = se3.identity() apc.spawn_item_in_world(itemposed,world) #set the directory print "Resouce directory is",os.path.join('../resources/',os.path.splitext(grippermodule.klampt_model_name)[0]) resource.setDirectory(os.path.join('../resources/',os.path.splitext(grippermodule.klampt_model_name)[0])) #edit the default configurations default_open_config = resource.get('default_open.config', description='Default hand open configuration', doedit='auto', world=world) default_closed_config = resource.get('default_closed.config', description='Default hand closed configuration',