use_gazebo = rospy.get_param("/use_gazebo")
# config #
brick_size = (0.2, 0.05, 0.1)
# scene #
scene = Scene('world')
scene.add_box('ground', (5, 5, 0.1), build_frame((0, 0, -0.05)))
# gazebo #
gazebo = GazeboUtils() if use_gazebo else None
# arm #
arm = Arm('panda_arm', 'world', build_frame((0, 0, -0.12), (0, 0, pi / 4)),
0.03, 0.025)
arm.cartesian = True
# builder #
margin = 0.001
builder = Builder(arm,
scene,
gazebo_utils=gazebo,
brick_size=(brick_size[0] - margin, brick_size[1] - margin,
brick_size[2] - margin))
# designer #
app = wx.App()
designer = Designer(builder, (brick_size[0], brick_size[1]))
designer.Show()
app.MainLoop()
